Visual Servoing Platform version 3.6.0
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vpRobotUniversalRobots.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Interface for Universal Robot.
33 *
34*****************************************************************************/
35
36#ifndef vpRobotUniversalRobots_h
37#define vpRobotUniversalRobots_h
38
39#include <visp3/core/vpConfig.h>
40
41#if defined(VISP_HAVE_UR_RTDE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
42
43#include <memory>
44
45#include <visp3/robot/vpRobot.h>
46#include <visp3/robot/vpRobotException.h>
47
48#include <ur_rtde/dashboard_client.h>
49#include <ur_rtde/rtde_control_interface.h>
50#include <ur_rtde/rtde_receive_interface.h>
51
60class VISP_EXPORT vpRobotUniversalRobots : public vpRobot
61{
62private: // Not allowed functions
67
68public:
70 vpRobotUniversalRobots(const std::string &ur_address);
72
73 void connect(const std::string &ur_address);
74 void disconnect();
75
79 std::shared_ptr<ur_rtde::RTDEReceiveInterface> getRTDEReceiveInterfaceHandler() const { return m_rtde_receive; }
80
84 std::shared_ptr<ur_rtde::RTDEControlInterface> getRTDEControlInterfaceHandler() const { return m_rtde_control; }
85
89 std::shared_ptr<ur_rtde::DashboardClient> getDashboardClientHandler() const { return m_db_client; }
90
91 vpHomogeneousMatrix get_fMe();
92 vpHomogeneousMatrix get_fMe(const vpColVector &q);
93 vpHomogeneousMatrix get_fMc();
94 vpHomogeneousMatrix get_eMc() const;
95
96 void getForceTorque(const vpRobot::vpControlFrameType frame, vpColVector &force);
97 std::string getPolyScopeVersion();
98 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
100 int getRobotMode() const;
101 std::string getRobotModel() const;
102
103 void move(const std::string &filename, double velocity_percentage = 10.);
104
105 bool readPosFile(const std::string &filename, vpColVector &q);
106 bool savePosFile(const std::string &filename, const vpColVector &q);
107
108 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
109 void setPosition(const vpRobot::vpControlFrameType frame, const vpPoseVector &pose);
110 void setPositioningVelocity(double velocity);
111
113 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
114
115 void set_eMc(const vpHomogeneousMatrix &eMc);
116
117 void stopMotion();
118
119private:
120 // Not implemented yet
121 void get_eJe(vpMatrix &_eJe){};
122 void get_fJe(vpMatrix &_fJe){};
124
125protected:
126 void init();
127
128 std::shared_ptr<ur_rtde::RTDEReceiveInterface> m_rtde_receive;
129 std::shared_ptr<ur_rtde::RTDEControlInterface> m_rtde_control;
130 std::shared_ptr<ur_rtde::DashboardClient> m_db_client;
138};
139
140#endif
141#endif
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Implementation of a pose vector and operations on poses.
std::shared_ptr< ur_rtde::RTDEControlInterface > getRTDEControlInterfaceHandler() const
std::shared_ptr< ur_rtde::DashboardClient > getDashboardClientHandler() const
std::shared_ptr< ur_rtde::RTDEReceiveInterface > getRTDEReceiveInterfaceHandler() const
std::shared_ptr< ur_rtde::DashboardClient > m_db_client
vpRobot::vpControlFrameType m_vel_control_frame
std::shared_ptr< ur_rtde::RTDEReceiveInterface > m_rtde_receive
std::shared_ptr< ur_rtde::RTDEControlInterface > m_rtde_control
Class that defines a generic virtual robot.
Definition vpRobot.h:57
vpControlFrameType
Definition vpRobot.h:73
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
vpRobotStateType
Definition vpRobot.h:62
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.