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Visual Servoing Platform
version 3.2.0
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#include <vpRobotTemplate.h>
Public Types | |
enum | vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL } |
enum | vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, JOINT_STATE = ARTICULAR_FRAME, END_EFFECTOR_FRAME, CAMERA_FRAME, TOOL_FRAME = CAMERA_FRAME, MIXT_FRAME } |
Static Public Member Functions | |
Static Public Member Functions inherited from vpRobot | |
static vpColVector | saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false) |
Protected Member Functions | |
Protected Member Functions Inherited from vpRobot | |
vpControlFrameType | setRobotFrame (vpRobot::vpControlFrameType newFrame) |
vpControlFrameType | getRobotFrame (void) const |
Protected Attributes | |
double | maxTranslationVelocity |
double | maxRotationVelocity |
int | nDof |
vpMatrix | eJe |
int | eJeAvailable |
vpMatrix | fJe |
int | fJeAvailable |
int | areJointLimitsAvailable |
double * | qmin |
double * | qmax |
bool | verbose_ |
Static Protected Attributes | |
static const double | maxTranslationVelocityDefault = 0.2 |
static const double | maxRotationVelocityDefault = 0.7 |
class that defines a robot just to show which function you must implement
Definition at line 56 of file vpRobotTemplate.h.
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inherited |
Robot control frames.
Enumerator | |
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REFERENCE_FRAME | Corresponds to a fixed reference frame attached to the robot structure. |
ARTICULAR_FRAME | Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE. |
JOINT_STATE | Corresponds to the joint state. |
END_EFFECTOR_FRAME | Corresponds to robot end-effector frame. |
CAMERA_FRAME | Corresponds to a frame attached to the camera mounted on the robot end-effector. |
TOOL_FRAME | Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME. |
MIXT_FRAME | Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame. |
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inherited |
vpRobotTemplate::vpRobotTemplate | ( | ) |
constructor
Definition at line 56 of file vpRobotTemplate.cpp.
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virtual |
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virtual |
get the robot Jacobian expressed in the end-effector frame
Implements vpRobot.
Definition at line 71 of file vpRobotTemplate.cpp.
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virtual |
get the robot Jacobian expressed in the robot reference frame
Implements vpRobot.
Definition at line 74 of file vpRobotTemplate.cpp.
void vpRobotTemplate::getArticularPosition | ( | vpColVector & | q | ) |
get a position expressed in the articular frame
Definition at line 116 of file vpRobotTemplate.cpp.
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virtual |
get a displacement (frame as to be specified)
get a displacement (frame as to ve specified)
Implements vpRobot.
Definition at line 128 of file vpRobotTemplate.cpp.
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inherited |
Get the maximal rotation velocity that can be sent to the robot during a velocity control.
Definition at line 272 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().
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inherited |
Get the maximal translation velocity that can be sent to the robot during a velocity control.
Definition at line 250 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().
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inherited |
Return the current robot position in the specified frame.
Definition at line 215 of file vpRobot.cpp.
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virtual |
get a displacement (frame as to be specified)
get a displacement (frame as to ve specified)
Implements vpRobot.
Definition at line 118 of file vpRobotTemplate.cpp.
void vpRobotTemplate::getPosition | ( | vpPoseVector & | q | ) |
get a position expressed in the robot reference frame
Definition at line 114 of file vpRobotTemplate.cpp.
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inlineprotectedinherited |
Definition at line 171 of file vpRobot.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity().
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inlinevirtualinherited |
Definition at line 143 of file vpRobot.h.
Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorAfma6::setRobotState(), vpSimulatorAfma6::setVelocity(), and vpSimulatorAfma6::stopMotion().
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virtual |
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staticinherited |
Saturate velocities.
v_in | : Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s. |
v_max | : Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s. |
verbose | : Print a message indicating which axis causes the saturation. |
vpRobotException::dimensionError | : If the input vectors have different dimensions. |
The code below shows how to use this static method in order to saturate a velocity skew vector.
Definition at line 162 of file vpRobot.cpp.
void vpRobotTemplate::sendArticularVelocity | ( | const vpColVector & | qdot | ) |
send to the controller a velocity expressed in the articular frame
Definition at line 97 of file vpRobotTemplate.cpp.
void vpRobotTemplate::sendCameraVelocity | ( | const vpColVector & | v | ) |
send to the controller a velocity expressed in the camera frame
Definition at line 86 of file vpRobotTemplate.cpp.
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inherited |
Set the maximal rotation velocity that can be sent to the robot during a velocity control.
w_max | : Maximum rotational velocity expressed in rad/s. |
Definition at line 259 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setPosition().
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inherited |
Set the maximal translation velocity that can be sent to the robot during a velocity control.
v_max | : Maximum translation velocity expressed in m/s. |
Definition at line 238 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setPosition().
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virtual |
set a displacement (frame as to be specified)
set a displacement (frame as to ve specified)
Implements vpRobot.
Definition at line 123 of file vpRobotTemplate.cpp.
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protectedinherited |
Definition at line 206 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::init(), and vpSimulatorAfma6::setVelocity().
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virtualinherited |
Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, vpRobotPtu46, vpSimulatorViper850, and vpSimulatorAfma6.
Definition at line 200 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setRobotState(), and vpSimulatorAfma6::stopMotion().
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virtual |
send to the controller a velocity (frame as to be specified)
send to the controller a velocity (frame as to ve specified)
Implements vpRobot.
Definition at line 102 of file vpRobotTemplate.cpp.
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