Visual Servoing Platform version 3.6.0
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vpRobotBiclops.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 the Biclops robot.
33 *
34*****************************************************************************/
35
36#ifndef _vpRobotBiclops_h_
37#define _vpRobotBiclops_h_
38
39#include <visp3/core/vpConfig.h>
40
41#ifdef VISP_HAVE_BICLOPS
42
43/* ------------------------------------------------------------------------ */
44/* --- INCLUDES ----------------------------------------------------------- */
45/* ------------------------------------------------------------------------ */
46
47/* --- GENERAL --- */
48#include <iostream>
49#include <pthread.h>
50#include <stdio.h>
51
52/* --- ViSP --- */
53#include <visp3/core/vpColVector.h>
54#include <visp3/core/vpVelocityTwistMatrix.h>
55#include <visp3/robot/vpBiclops.h>
56#include <visp3/robot/vpRobot.h>
57#include <visp3/robot/vpRobotBiclopsController.h>
58
59/* ------------------------------------------------------------------------ */
60/* --- CLASS -------------------------------------------------------------- */
61/* ------------------------------------------------------------------------ */
62
91class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
92{
93public:
94 static const double defaultPositioningVelocity;
95
97 explicit vpRobotBiclops(const std::string &filename);
98 virtual ~vpRobotBiclops();
99
100 void init();
101
102 void get_cMe(vpHomogeneousMatrix &_cMe) const;
103 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
104 void get_eJe(vpMatrix &_eJe);
105 void get_fJe(vpMatrix &_fJe);
106
109 double getPositioningVelocity(void);
110 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);
111 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
112
113 bool readPositionFile(const std::string &filename, vpColVector &q);
114
115 void setConfigFile(const std::string &filename = "/usr/share/BiclopsDefault.cfg");
116 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
117 void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
118 void setPosition(const char *filename);
119 void setPositioningVelocity(double velocity);
121 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot);
122
123 void stopMotion();
124
125 static void *vpRobotBiclopsSpeedControlLoop(void *arg);
126
127private:
128 static bool robotAlreadyCreated;
129 pthread_t control_thread;
130
131 std::string configfile; // Biclops config file
132
133 vpRobotBiclopsController controller;
134
135 double positioningVelocity;
136 vpColVector q_previous;
137 bool controlThreadCreated;
138
139 // private:
140 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
141 // /*! \brief No copy constructor allowed. */
142 // vpRobotBiclops(const vpRobotBiclops &)
143 // : vpBiclops(), vpRobot(), control_thread(), controller(),
144 // positioningVelocity(0), q_previous(), controlThreadCreated(false)
145 // {
146 // throw vpException(vpException::functionNotImplementedError, "Not
147 // implemented!");
148 // }
149 // vpRobotBiclops &operator=(const vpRobotBiclops &){
150 // throw vpException(vpException::functionNotImplementedError, "Not
151 // implemented!"); return *this;
152 // }
153 //#endif
154};
155
156#endif /* #ifndef _vpRobotBiclops_h_ */
157
158#endif
Jacobian, geometric model functionalities... for biclops, pan, tilt head.
Definition vpBiclops.h:75
void init(void)
void get_cVe(vpVelocityTwistMatrix &_cVe) const
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
vpHomogeneousMatrix get_cMe() const
Definition vpBiclops.h:154
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
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
Interface for the biclops, pan, tilt head control.
static const double defaultPositioningVelocity
Class that defines a generic virtual robot.
Definition vpRobot.h:57
vpControlFrameType
Definition vpRobot.h:73
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 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.