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vpRobotViper650.h
1 /****************************************************************************
2  *
3  * $Id: vpRobotViper650.h 4317 2013-07-17 09:40:17Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Interface for the Irisa's Viper S650 robot controlled by an Adept MotionBlox.
36  *
37  * Authors:
38  * Fabien Spindler
39  *
40  *****************************************************************************/
41 
42 #ifndef vpRobotViper650_h
43 #define vpRobotViper650_h
44 
45 #include <visp/vpConfig.h>
46 
47 #ifdef VISP_HAVE_VIPER650
48 
49 #include <iostream>
50 #include <stdio.h>
51 
52 #include <visp/vpRobot.h>
53 #include <visp/vpColVector.h>
54 #include <visp/vpDebug.h>
55 #include <visp/vpViper650.h>
56 
57 // low level controller api
58 extern "C" {
59 # include "irisa_Viper650.h"
60 # include "trycatch.h"
61 }
62 
63 
276 class VISP_EXPORT vpRobotViper650
277  :
278  public vpViper650,
279  public vpRobot
280 {
281 
282 public: /* Constantes */
283 
285  typedef enum {
288  ESTOP
289  } vpControlModeType;
290 
291  /* Vitesse maximale par default lors du positionnement du robot.
292  * C'est la valeur a la construction de l'attribut prive \a
293  * positioningVelocity. Cette valeur peut etre changee par la fonction
294  * #setPositioningVelocity.
295  */
296  static const double defaultPositioningVelocity; // = 20.0;
297 
298 private: /* Not allowed functions. */
299 
303  vpRobotViper650 (const vpRobotViper650 & robot);
304 
305 private: /* Attributs prives. */
306 
316  static bool robotAlreadyCreated;
317 
318  double positioningVelocity;
319 
320  // Variables used to compute the measured velocities (see getVelocity() )
321  vpColVector q_prev_getvel;
322  vpHomogeneousMatrix fMc_prev_getvel;
323  double time_prev_getvel;
324  bool first_time_getvel;
325 
326  // Variables used to compute the measured displacement (see
327  // getDisplacement() )
328  vpColVector q_prev_getdis;
329  bool first_time_getdis;
330  vpControlModeType controlMode;
331 
332 
333 public: /* Methode publiques */
334 
335  vpRobotViper650 (bool verbose=true);
336  virtual ~vpRobotViper650 (void);
337 
338  // Force/Torque control
339  void biasForceTorqueSensor();
340 
341  void disableJoint6Limits();
342  void enableJoint6Limits();
343 
349  return controlMode;
350  }
351 
353  vpColVector &displacement);
354  void getForceTorque(vpColVector &H);
355 
356  void getPosition (const vpRobot::vpControlFrameType frame,
357  vpColVector &position);
358  void getPosition (const vpRobot::vpControlFrameType frame,
359  vpColVector &position,
360  double &timestamp);
361  void getPosition (const vpRobot::vpControlFrameType frame,
362  vpPoseVector &position);
363  void getPosition (const vpRobot::vpControlFrameType frame,
364  vpPoseVector &position,
365  double &timestamp);
366 
367  double getPositioningVelocity (void);
368  bool getPowerState();
369 
370  double getTime () const;
371  void getVelocity (const vpRobot::vpControlFrameType frame,
372  vpColVector & velocity);
373  void getVelocity (const vpRobot::vpControlFrameType frame,
374  vpColVector & velocity, double &timestamp);
375 
376  vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
377  vpColVector getVelocity (const vpRobot::vpControlFrameType frame, double &timestamp);
378 
379  void get_cMe(vpHomogeneousMatrix &cMe) ;
380  void get_cVe(vpVelocityTwistMatrix &cVe) ;
381  void get_eJe(vpMatrix &eJe) ;
382  void get_fJe(vpMatrix &fJe) ;
383 
384  void init (void);
385  void init (vpViper650::vpToolType tool,
388 
389  void move(const char *filename) ;
390 
391  void powerOn() ;
392  void powerOff() ;
393 
394  static bool readPosFile(const char *filename, vpColVector &q) ;
395  static bool savePosFile(const char *filename, const vpColVector &q) ;
396 
397  // Position control
398  void setPosition(const vpRobot::vpControlFrameType frame,
399  const vpColVector &position) ;
400  void setPosition (const vpRobot::vpControlFrameType frame,
401  const double pos1, const double pos2, const double pos3,
402  const double pos4, const double pos5, const double pos6) ;
403  void setPosition(const char *filename) ;
404  void setPositioningVelocity (const double velocity);
405 
406  // State
408  // Velocity control
409  void setVelocity (const vpRobot::vpControlFrameType frame,
410  const vpColVector & velocity);
411 
412  void stopMotion() ;
413 
414 private:
415  void getArticularDisplacement(vpColVector &displacement);
416  void getCameraDisplacement(vpColVector &displacement);
417 };
418 
419 #endif
420 #endif /* #ifndef vpRobotViper650_h */