Visual Servoing Platform  version 3.3.0

#include <vpRobotTemplate.h>

+ Inheritance diagram for vpRobotTemplate:

Public Types

enum  vpRobotStateType {
  STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL,
  STATE_FORCE_TORQUE_CONTROL
}
 
enum  vpControlFrameType {
  REFERENCE_FRAME, ARTICULAR_FRAME, JOINT_STATE = ARTICULAR_FRAME, END_EFFECTOR_FRAME,
  CAMERA_FRAME, TOOL_FRAME = CAMERA_FRAME, MIXT_FRAME
}
 

Public Member Functions

 vpRobotTemplate ()
 
virtual ~vpRobotTemplate ()
 
void get_eJe (vpMatrix &eJe_)
 
void get_fJe (vpMatrix &fJe_)
 
vpHomogeneousMatrix get_eMc () const
 
void getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)
 
void getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)
 
void set_eMc (vpHomogeneousMatrix &eMc)
 
void setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)
 
void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)
 
Inherited functionalities from vpRobot
double getMaxTranslationVelocity (void) const
 
double getMaxRotationVelocity (void) const
 
vpColVector getPosition (const vpRobot::vpControlFrameType frame)
 
virtual vpRobotStateType getRobotState (void) const
 
void setMaxRotationVelocity (double maxVr)
 
void setMaxTranslationVelocity (double maxVt)
 
virtual vpRobotStateType setRobotState (const vpRobot::vpRobotStateType newState)
 
void setVerbose (bool verbose)
 

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

void init ()
 
void getJointPosition (vpColVector &q)
 
void setCartVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &v)
 
void setJointVelocity (const vpColVector &qdot)
 
Protected Member Functions Inherited from vpRobot
vpControlFrameType setRobotFrame (vpRobot::vpControlFrameType newFrame)
 
vpControlFrameType getRobotFrame (void) const
 

Protected Attributes

vpHomogeneousMatrix m_eMc
 
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
 

Detailed Description

Class that defines a robot just to show which function you must implement.

Definition at line 60 of file vpRobotTemplate.h.

Member Enumeration Documentation

◆ vpControlFrameType

Robot control frames.

Enumerator
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.

Definition at line 74 of file vpRobot.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType
inherited

Robot control states.

Enumerator
STATE_STOP 

Stops robot motion especially in velocity and acceleration control.

STATE_VELOCITY_CONTROL 

Initialize the velocity controller.

STATE_POSITION_CONTROL 

Initialize the position controller.

STATE_ACCELERATION_CONTROL 

Initialize the acceleration controller.

STATE_FORCE_TORQUE_CONTROL 

Initialize the force/torque controller.

Definition at line 63 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpRobotTemplate()

vpRobotTemplate::vpRobotTemplate ( )

Default constructor.

Definition at line 68 of file vpRobotTemplate.cpp.

◆ ~vpRobotTemplate()

vpRobotTemplate::~vpRobotTemplate ( )
virtual

Destructor.

Definition at line 77 of file vpRobotTemplate.cpp.

Member Function Documentation

◆ get_eJe()

void vpRobotTemplate::get_eJe ( vpMatrix eJe_)
virtual

Get the robot Jacobian expressed in the end-effector frame.

Parameters
[out]eJe_: End-effector frame Jacobian.

Implements vpRobot.

Definition at line 96 of file vpRobotTemplate.cpp.

◆ get_eMc()

vpHomogeneousMatrix vpRobotTemplate::get_eMc ( ) const
inline

Return constant transformation between end-effector and tool frame. If your tool is a camera, this transformation is obtained by hand-eye calibration.

Definition at line 73 of file vpRobotTemplate.h.

◆ get_fJe()

void vpRobotTemplate::get_fJe ( vpMatrix fJe_)
virtual

Get the robot Jacobian expressed in the robot reference frame.

Parameters
[out]fJe_: Base (or reference) frame Jacobian.

Implements vpRobot.

Definition at line 107 of file vpRobotTemplate.cpp.

◆ getDisplacement()

void vpRobotTemplate::getDisplacement ( const vpRobot::vpControlFrameType  frame,
vpColVector q 
)
virtual

Get a displacement.

Parameters
[in]frame: Considered cartesian frame or joint state.
[out]q: Displacement in meter and rad.

Implements vpRobot.

Definition at line 311 of file vpRobotTemplate.cpp.

◆ getJointPosition()

void vpRobotTemplate::getJointPosition ( vpColVector q)
protected

Get robot joint positions.

Parameters
[in]q: Joint velocities in rad/s.

Definition at line 270 of file vpRobotTemplate.cpp.

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void  ) const
inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns
Maximum rotation velocity expressed in rad/s.

Definition at line 272 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void  ) const
inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns
Maximum translational velocity expressed in m/s.

Definition at line 250 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().

◆ getPosition() [1/2]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType  frame)
inherited

Return the current robot position in the specified frame.

Definition at line 215 of file vpRobot.cpp.

◆ getPosition() [2/2]

void vpRobotTemplate::getPosition ( const vpRobot::vpControlFrameType  frame,
vpColVector q 
)
virtual

Get robot position.

Parameters
[in]frame: Considered cartesian frame or joint state.
[out]q: Position of the arm.

Implements vpRobot.

Definition at line 282 of file vpRobotTemplate.cpp.

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void  ) const
inlineprotectedinherited

Definition at line 171 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity().

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void  ) const
inlinevirtualinherited

◆ init()

void vpRobotTemplate::init ( void  )
protectedvirtual

Basic initialization.

Implements vpRobot.

Definition at line 53 of file vpRobotTemplate.cpp.

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities ( const vpColVector v_in,
const vpColVector v_max,
bool  verbose = false 
)
staticinherited

Saturate velocities.

Parameters
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.
Returns
Saturated velocities.
Exceptions
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.

#include <iostream>
#include <visp3/robot/vpRobot.h>
int main()
{
// Set a velocity skew vector
v[0] = 0.1; // vx in m/s
v[1] = 0.2; // vy
v[2] = 0.3; // vz
v[3] = vpMath::rad(10); // wx in rad/s
v[4] = vpMath::rad(-10); // wy
v[5] = vpMath::rad(20); // wz
// Set the maximal allowed velocities
vpColVector v_max(6);
for (int i=0; i<3; i++)
v_max[i] = 0.3; // in translation (m/s)
for (int i=3; i<6; i++)
v_max[i] = vpMath::rad(10); // in rotation (rad/s)
// Compute the saturated velocity skew vector
vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
std::cout << "v : " << v.t() << std::endl;
std::cout << "v max: " << v_max.t() << std::endl;
std::cout << "v sat: " << v_sat.t() << std::endl;
return 0;
}

Definition at line 162 of file vpRobot.cpp.

◆ set_eMc()

void vpRobotTemplate::set_eMc ( vpHomogeneousMatrix eMc)
inline

Set constant transformation between end-effector and tool frame. If your tool is a camera, this transformation is obtained by hand-eye calibration.

Definition at line 82 of file vpRobotTemplate.h.

◆ setCartVelocity()

void vpRobotTemplate::setCartVelocity ( const vpRobot::vpControlFrameType  frame,
const vpColVector v 
)
protected

Send to the controller a 6-dim velocity twist vector expressed in a Cartesian frame.

Parameters
[in]frame: Cartesian control frame (either tool frame or end-effector) in which the velocity v is expressed. Units are m/s for translation and rad/s for rotation velocities.
[in]v: 6-dim vector that contains the 6 components of the velocity twist to send to the robot. Units are m/s and rad/s.

Definition at line 130 of file vpRobotTemplate.cpp.

◆ setJointVelocity()

void vpRobotTemplate::setJointVelocity ( const vpColVector qdot)
protected

Send a joint velocity to the controller.

Parameters
[in]qdot: Joint velocities vector. Units are rad/s for a robot arm.

Definition at line 191 of file vpRobotTemplate.cpp.

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double  w_max)
inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters
w_max: Maximum rotational velocity expressed in rad/s.
Examples
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, testFeatureSegment.cpp, testFrankaJointVelocityLimits.cpp, and testRobotFlirPtu.cpp.

Definition at line 259 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double  v_max)
inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters
v_max: Maximum translation velocity expressed in m/s.
Examples
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 238 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

◆ setPosition()

void vpRobotTemplate::setPosition ( const vpRobot::vpControlFrameType  frame,
const vpColVector q 
)
virtual

Set a position to reach.

Parameters
[in]frame: Considered cartesian frame or joint state.
[in]q: Position to reach.

Implements vpRobot.

Definition at line 298 of file vpRobotTemplate.cpp.

◆ setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType  newFrame)
protectedinherited

Definition at line 206 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), and vpSimulatorAfma6::setVelocity().

◆ setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType  newState)
virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, vpRobotFlirPtu, vpRobotPtu46, vpSimulatorViper850, vpSimulatorAfma6, and vpRobotBiclops.

Examples
frankaMoveToPosition.cpp, frankaSavePosition.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricVisualServoing.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, testFrankaCartForceTorque-2.cpp, testFrankaCartForceTorque.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaJointPosition.cpp, testFrankaJointTorque.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, testRobotFlirPtu.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseAfma6.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 200 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setRobotState(), and vpSimulatorAfma6::stopMotion().

◆ setVelocity()

void vpRobotTemplate::setVelocity ( const vpRobot::vpControlFrameType  frame,
const vpColVector vel 
)
virtual

Send to the controller a velocity in a given frame.

Parameters
[in]frame: Control frame in which the velocity vel is expressed. Velocities could be joint velocities, or cartesian velocities. Units are m/s for translation and rad/s for rotation velocities.
[in]vel: Vector that contains the velocity to apply to the robot.

Implements vpRobot.

Definition at line 209 of file vpRobotTemplate.cpp.

◆ setVerbose()

void vpRobot::setVerbose ( bool  verbose)
inlineinherited

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable
protectedinherited

Definition at line 111 of file vpRobot.h.

◆ eJe

vpMatrix vpRobot::eJe
protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 103 of file vpRobot.h.

◆ eJeAvailable

int vpRobot::eJeAvailable
protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 105 of file vpRobot.h.

◆ fJe

vpMatrix vpRobot::fJe
protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

◆ fJeAvailable

int vpRobot::fJeAvailable
protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 109 of file vpRobot.h.

◆ m_eMc

vpHomogeneousMatrix vpRobotTemplate::m_eMc
protected

Constant transformation between end-effector and tool (or camera) frame.

Definition at line 93 of file vpRobotTemplate.h.

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity
protectedinherited

Definition at line 97 of file vpRobot.h.

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7
staticprotectedinherited

Definition at line 98 of file vpRobot.h.

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity
protectedinherited

Definition at line 95 of file vpRobot.h.

◆ maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2
staticprotectedinherited

Definition at line 96 of file vpRobot.h.

◆ nDof

int vpRobot::nDof
protectedinherited

number of degrees of freedom

Definition at line 101 of file vpRobot.h.

◆ qmax

double* vpRobot::qmax
protectedinherited

Definition at line 113 of file vpRobot.h.

◆ qmin

double* vpRobot::qmin
protectedinherited

Definition at line 112 of file vpRobot.h.

◆ verbose_

bool vpRobot::verbose_
protectedinherited

Definition at line 115 of file vpRobot.h.

vpColVector::t
vpRowVector t() const
Definition: vpColVector.cpp:781
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:107
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:129
vpRobot::saturateVelocities
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition: vpRobot.cpp:162