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vpRobotViper850.h
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/****************************************************************************
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*
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* $Id: vpRobotViper850.h 4317 2013-07-17 09:40:17Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Interface for the Irisa's Viper S850 robot controlled by an Adept MotionBlox.
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*
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* Authors:
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef vpRobotViper850_h
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#define vpRobotViper850_h
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#include <visp/vpConfig.h>
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#ifdef VISP_HAVE_VIPER850
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#include <iostream>
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#include <stdio.h>
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#include <visp/vpRobot.h>
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#include <visp/vpColVector.h>
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#include <visp/vpDebug.h>
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#include <visp/vpViper850.h>
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// low level controller api
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extern
"C"
{
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# include "irisa_Viper850.h"
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# include "trycatch.h"
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}
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class
VISP_EXPORT
vpRobotViper850
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:
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public
vpViper850
,
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public
vpRobot
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{
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public
:
/* Constantes */
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typedef
enum
{
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AUTO
,
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MANUAL
,
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ESTOP
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} vpControlModeType;
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/* Vitesse maximale par default lors du positionnement du robot.
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* C'est la valeur a la construction de l'attribut prive \a
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* positioningVelocity. Cette valeur peut etre changee par la fonction
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* #setPositioningVelocity.
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*/
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static
const
double
defaultPositioningVelocity
;
// = 20.0;
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private
:
/* Not allowed functions. */
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vpRobotViper850
(
const
vpRobotViper850
& robot);
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private
:
/* Attributs prives. */
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static
bool
robotAlreadyCreated;
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double
positioningVelocity;
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// Variables used to compute the measured velocities (see getVelocity() )
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vpColVector
q_prev_getvel;
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vpHomogeneousMatrix
fMc_prev_getvel;
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double
time_prev_getvel;
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bool
first_time_getvel;
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// Variables used to compute the measured displacement (see
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// getDisplacement() )
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vpColVector
q_prev_getdis;
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bool
first_time_getdis;
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vpControlModeType
controlMode;
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public
:
/* Methode publiques */
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vpRobotViper850
(
bool
verbose=
true
);
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virtual
~
vpRobotViper850
(
void
);
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// Force/Torque control
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void
biasForceTorqueSensor();
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void
closeGripper();
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void
disableJoint6Limits();
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void
enableJoint6Limits();
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void
getDisplacement
(
vpRobot::vpControlFrameType
frame,
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vpColVector
&displacement);
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vpControlModeType
getControlMode
() {
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return
controlMode;
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}
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void
getForceTorque(
vpColVector
&H);
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void
getPosition
(
const
vpRobot::vpControlFrameType
frame,
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vpColVector
&position);
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void
getPosition
(
const
vpRobot::vpControlFrameType
frame,
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vpColVector
&position,
double
×tamp);
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void
getPosition
(
const
vpRobot::vpControlFrameType
frame,
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vpPoseVector
&position);
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void
getPosition
(
const
vpRobot::vpControlFrameType
frame,
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vpPoseVector
&position,
double
×tamp);
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double
getPositioningVelocity (
void
);
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bool
getPowerState();
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void
getVelocity (
const
vpRobot::vpControlFrameType
frame,
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vpColVector
& velocity);
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void
getVelocity (
const
vpRobot::vpControlFrameType
frame,
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vpColVector
& velocity,
double
×tamp);
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vpColVector
getVelocity (
const
vpRobot::vpControlFrameType
frame);
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vpColVector
getVelocity (
const
vpRobot::vpControlFrameType
frame,
double
×tamp);
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double
getTime()
const
;
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void
get_cMe
(
vpHomogeneousMatrix
&cMe) ;
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void
get_cVe
(
vpVelocityTwistMatrix
&cVe) ;
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void
get_eJe
(
vpMatrix
&eJe) ;
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void
get_fJe
(
vpMatrix
&fJe) ;
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void
init
(
void
);
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void
init
(
vpViper850::vpToolType
tool,
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vpCameraParameters::vpCameraParametersProjType
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projModel =
vpCameraParameters::perspectiveProjWithoutDistortion
);
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void
move(
const
char
*filename) ;
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void
openGripper();
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void
powerOn() ;
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void
powerOff() ;
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static
bool
readPosFile(
const
char
*filename,
vpColVector
&q) ;
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static
bool
savePosFile(
const
char
*filename,
const
vpColVector
&q) ;
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// Position control
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void
setPosition
(
const
vpRobot::vpControlFrameType
frame,
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const
vpColVector
&position) ;
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void
setPosition
(
const
vpRobot::vpControlFrameType
frame,
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const
double
pos1,
const
double
pos2,
const
double
pos3,
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const
double
pos4,
const
double
pos5,
const
double
pos6) ;
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void
setPosition
(
const
char
*filename) ;
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void
setPositioningVelocity (
const
double
velocity);
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// State
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vpRobot::vpRobotStateType
setRobotState
(
vpRobot::vpRobotStateType
newState);
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// Velocity control
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void
setVelocity
(
const
vpRobot::vpControlFrameType
frame,
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const
vpColVector
& velocity);
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void
stopMotion() ;
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private
:
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void
getArticularDisplacement(
vpColVector
&displacement);
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void
getCameraDisplacement(
vpColVector
&displacement);
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};
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/*
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* Local variables:
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* c-basic-offset: 2
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* End:
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*/
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#endif
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#endif
/* #ifndef vpRobotViper850_h */
src
robot
real-robot
viper
vpRobotViper850.h
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