Visual Servoing Platform version 3.6.0
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vpRobotPtu46.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 ptu-46 robot.
33 *
34*****************************************************************************/
35
36#include <visp3/core/vpConfig.h>
37#ifdef VISP_HAVE_PTU46
38
39#ifndef _vpRobotPtu46_h_
40#define _vpRobotPtu46_h_
41
42/* ------------------------------------------------------------------------ */
43/* --- INCLUDES ----------------------------------------------------------- */
44/* ------------------------------------------------------------------------ */
45
46/* --- GENERAL --- */
47#include <iostream>
48#include <stdio.h>
49
50/* --- ViSP --- */
51#include <visp3/core/vpColVector.h>
52#include <visp3/core/vpDebug.h>
53#include <visp3/core/vpVelocityTwistMatrix.h>
54#include <visp3/robot/vpPtu46.h>
55#include <visp3/robot/vpRobot.h>
56
57#include <ptu.h> // Contrib for Ptu-46 robot
58
59/* ------------------------------------------------------------------------ */
60/* --- CLASS ------------------------------------------------------------- */
61/* ------------------------------------------------------------------------ */
62
77class VISP_EXPORT vpRobotPtu46 : public vpPtu46, public vpRobot
78{
79
80private:
82 vpRobotPtu46(const vpRobotPtu46 &ass);
83
85 Ptu ptu;
86
87private:
88 static bool robotAlreadyCreated;
89 double positioningVelocity;
90 int velocityMesureTempo;
91 std::string device;
92
93public:
94 static const double defaultPositioningVelocity;
95
96 explicit vpRobotPtu46(const std::string &device = "/dev/ttyS0");
97 explicit vpRobotPtu46(vpRobotPtu46 *pub);
98 virtual ~vpRobotPtu46(void);
99
100 void get_cMe(vpHomogeneousMatrix &_cMe) const;
101 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
102 void get_eJe(vpMatrix &_eJe);
103 void get_fJe(vpMatrix &_fJe);
104
107 double getPositioningVelocity(void);
108 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);
109 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
110
111 void init(void);
112
113 bool readPositionFile(const std::string &filename, vpColVector &q);
114
115 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
116 void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
117 void setPosition(const char *filename);
118 void setPositioningVelocity(double velocity);
120
121 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot);
122
123 void stopMotion();
124};
125
126#endif /* #ifndef _vpRobotPtu46_h_ */
127
128#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
Jacobian, geometric model functionalities... for ptu46, pan, tilt head from Directed Perception.
Definition vpPtu46.h:71
void get_cVe(vpVelocityTwistMatrix &_cVe) const
Definition vpPtu46.cpp:190
void init(void)
Definition vpPtu46.cpp:163
void get_cMe(vpHomogeneousMatrix &_cMe) const
Definition vpPtu46.cpp:207
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition vpPtu46.cpp:275
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition vpPtu46.cpp:246
Interface for the Directed Perception ptu-46 pan, tilt head .
static const double defaultPositioningVelocity
vpRobotPtu46(vpRobotPtu46 *pub)
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.