#include <vpRobotBiclops.h>

Inheritance diagram for vpRobotBiclops:

Public Types
enum	DenavitHartenbergModel { DH1 , DH2 }
enum	vpRobotStateType { STATE_STOP , STATE_VELOCITY_CONTROL , STATE_POSITION_CONTROL , STATE_ACCELERATION_CONTROL , STATE_FORCE_TORQUE_CONTROL }
enum	vpControlFrameType { REFERENCE_FRAME , ARTICULAR_FRAME , JOINT_STATE = ARTICULAR_FRAME , END_EFFECTOR_FRAME , CAMERA_FRAME , TOOL_FRAME = CAMERA_FRAME , MIXT_FRAME }

Public Member Functions
	vpRobotBiclops ()
VP_EXPLICIT	vpRobotBiclops (const std::string &filename)
virtual	~vpRobotBiclops ()
void	init () VP_OVERRIDE
void	get_cMe (vpHomogeneousMatrix &cMe) const
void	get_cVe (vpVelocityTwistMatrix &cVe) const
void	get_eJe (vpMatrix &eJe) VP_OVERRIDE
void	get_fJe (vpMatrix &fJe) VP_OVERRIDE
void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &d) VP_OVERRIDE
void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE
double	getPositioningVelocity (void)
void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &q_dot)
vpColVector	getVelocity (const vpRobot::vpControlFrameType frame)
bool	readPositionFile (const std::string &filename, vpColVector &q)
void	setConfigFile (const std::string &filename="/usr/share/BiclopsDefault.cfg")
void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q) VP_OVERRIDE
void	setPosition (const vpRobot::vpControlFrameType frame, const double &q1, const double &q2)
void	setPosition (const std::string &filename)
void	setPositioningVelocity (double velocity)
vpRobot::vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState) VP_OVERRIDE
void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &q_dot) VP_OVERRIDE
void	stopMotion ()
Inherited functionalities from vpBiclops
void	computeMGD (const vpColVector &q, vpHomogeneousMatrix &fMc) const
vpHomogeneousMatrix	computeMGD (const vpColVector &q) const
void	computeMGD (const vpColVector &q, vpPoseVector &fPc) const
vpHomogeneousMatrix	get_cMe () const
void	get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc) const
void	get_fMc (const vpColVector &q, vpPoseVector &fPc) const
vpHomogeneousMatrix	get_fMc (const vpColVector &q) const
vpHomogeneousMatrix	get_fMe (const vpColVector &q) const
void	get_eJe (const vpColVector &q, vpMatrix &eJe) const
void	get_fJe (const vpColVector &q, vpMatrix &fJe) const
vpBiclops::DenavitHartenbergModel	getDenavitHartenbergModel () const
void	set_cMe ()
void	set_cMe (const vpHomogeneousMatrix &cMe)
void	setDenavitHartenbergModel (vpBiclops::DenavitHartenbergModel dh_model=vpBiclops::DH1)
Inherited functionalities from vpRobot
double	getMaxTranslationVelocity (void) const
double	getMaxRotationVelocity (void) const
int	getNDof () const
vpColVector	getPosition (const vpRobot::vpControlFrameType frame)
virtual vpRobotStateType	getRobotState (void) const
void	setMaxRotationVelocity (double maxVr)
void	setMaxTranslationVelocity (double maxVt)
void	setVerbose (bool verbose)

Static Public Member Functions
static void	vpRobotBiclopsSpeedControlLoop (void *arg)
Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Static Public Attributes
static const double	defaultPositioningVelocity = 10.0
static const unsigned int	ndof = 2
static const float	h = 0.048f
static const float	panJointLimit = static_cast<float>(M_PI)
static const float	tiltJointLimit = static_cast<float>(M_PI / 4.5)
static const float	speedLimit = static_cast<float>(M_PI / 3.0)

Protected Member Functions
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)
vpControlFrameType	getRobotFrame (void) const

Protected Attributes
DenavitHartenbergModel	m_dh_model
vpHomogeneousMatrix	m_cMe
double	maxTranslationVelocity
double	maxRotationVelocity
int	nDof
vpMatrix	eJe
int	eJeAvailable
vpMatrix	fJe
int	fJeAvailable
int	areJointLimitsAvailable
double *	qmin
double *	qmax
bool	verbose_

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2
static const double	maxRotationVelocityDefault = 0.7

Detailed Description

Interface for the Biclops, pan, tilt head control.

Two different models are proposed and can be set using vpBiclops::DenavitHartenbergModel. The vpBiclops::DH1 and vpBiclops::DH2 model differ in the orientation of the tilt axis. The following image gives the location of the end-effector frame and a potential camera frame.

Biclops PT models

See http://www.traclabs.com/biclopspt.html for more details.

This class provide a position and a speed control interface for the Biclops head. To manage the Biclops joint limits in speed control, a control loop is running in a separate thread implemented in vpRobotBiclopsSpeedControlLoop().

Warning: Velocity control mode is not exported from the top-level Biclops API class provided by Traclabs. That means that there is no protection in this mode to prevent an axis from striking its hard limit. In position mode, Traclabs put soft limits in that keep any command from driving to a position too close to the hard limits. In velocity mode this protection does not exist in the current API.; With the understanding that hitting the hard limits at full speed/power can damage the unit, damage due to velocity mode commanding is under user responsibility.

Examples: moveBiclops.cpp, servoBiclopsPoint2DArtVelocity.cpp, and servoPioneerPanSegment3D.cpp.

Definition at line 91 of file vpRobotBiclops.h.

Member Enumeration Documentation

◆ DenavitHartenbergModel

enum vpBiclops::DenavitHartenbergModel

inherited

Two different Denavit-Hartenberg representations of the robot are implemented. As you can see in the next image, they differ in the orientation of the tilt axis.

Biclops PT models

The first representation, vpBiclops::DH1 is given by:

Joint			$\alpha_i$	$\theta_i$
1	0	0	$-\pi/2$
2	0	0	$\pi/2$	$q_2 + \pi/2$

The second one, vpBiclops::DH2 is given by:

Joint			$\alpha_i$	$\theta_i$
1	0	0	$\pi/2$
2	0	0	$-\pi/2$	$q_2 - \pi/2$

where are respectively the pan and tilt joint positions.

In those representations, the pan is oriented from left to right, while the tilt is oriented

in vpBiclops::DH1 from down to top,
in vpBiclops::DH2 from top to down.

Enumerator
DH1	First Denavit-Hartenberg representation.
DH2	Second Denavit-Hartenberg representation.

Definition at line 94 of file vpBiclops.h.

◆ vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.
JOINT_STATE	Corresponds to the joint state.
END_EFFECTOR_FRAME	Corresponds to robot end-effector frame.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME	Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 73 of file vpRobot.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.
STATE_FORCE_TORQUE_CONTROL	Initialize the force/torque controller.

Definition at line 61 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpRobotBiclops() [1/2]

vpRobotBiclops::vpRobotBiclops ( )

Default constructor.

Does nothing more than setting the default configuration file to /usr/share/BiclopsDefault.cfg.

As shown in the following example, the turret need to be initialized using init() function.

#include <visp3/robot/vpRobotBiclops.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
#ifdef VISP_HAVE_BICLOPS
  vpRobotBiclops robot; // Use the default config file in /usr/share/BiclopsDefault.cfg
 
  // Initialize the head
  robot.init();
 
  // Move the robot to a specified pan and tilt
  robot.setRobotState(vpRobot::STATE_POSITION_CONTROL) ;
  vpColVector q(2);
  q[0] = vpMath::rad(20); // pan
  q[1] = vpMath::rad(40); // tilt
  robot.setPosition(vpRobot::JOINT_STATE, q);
#endif
  return 0;
}

Definition at line 73 of file vpRobotBiclops.cpp.

References defaultPositioningVelocity, setConfigFile(), vpBiclops::vpBiclops(), vpDEBUG_TRACE, and vpRobot::vpRobot().

◆ vpRobotBiclops() [2/2]

vpRobotBiclops::vpRobotBiclops ( const std::string & filename )

Constructor that initialize the Biclops pan, tilt head by reading the configuration file provided by Traclabs and do the homing sequence.

The following example shows how to use the constructor.

#include <visp3/robot/vpRobotBiclops.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
#ifdef VISP_HAVE_BICLOPS
  // Specify the config file location and initialize the turret
  vpRobotBiclops robot("/usr/share/BiclopsDefault.cfg");
 
  // Move the robot to a specified pan and tilt
  robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
 
  vpColVector q(2);
  q[0] = vpMath::rad(-20); // pan
  q[1] = vpMath::rad(10); // tilt
  robot.setPosition(vpRobot::JOINT_STATE, q);
#endif
  return 0;
}

Definition at line 83 of file vpRobotBiclops.cpp.

References defaultPositioningVelocity, init(), setConfigFile(), vpBiclops::vpBiclops(), vpDEBUG_TRACE, and vpRobot::vpRobot().

◆ ~vpRobotBiclops()

vpRobotBiclops::~vpRobotBiclops ( )

virtual

Destructor. Wait the end of the control thread.

Definition at line 95 of file vpRobotBiclops.cpp.

References setRobotState(), vpRobot::STATE_STOP, and vpDEBUG_TRACE.

Member Function Documentation

◆ computeMGD() [1/3]

vpHomogeneousMatrix vpBiclops::computeMGD ( const vpColVector & q ) const

inherited

Return the direct geometric model of the camera: fMc

Warning: Provided for compatibility with previous versions. Use rather get_fMc(const vpColVector &).

Parameters

q	: Joint position for pan and tilt axis.

Returns: fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

See also: get_fMc(const vpColVector &)

Definition at line 67 of file vpBiclops.cpp.

References computeMGD().

◆ computeMGD() [2/3]

void vpBiclops::computeMGD	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc ) const

inherited

Compute the direct geometric model of the camera: fMc

Warning: Provided for compatibility with previous versions. Use rather get_fMc(const vpColVector &, vpHomogeneousMatrix &).

Parameters

q	: Joint position for pan and tilt axis.
fMc	: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

See also: get_fMc(const vpColVector &, vpHomogeneousMatrix &)

Definition at line 47 of file vpBiclops.cpp.

References get_fMe(), m_cMe, and vpCDEBUG.

Referenced by computeMGD().

◆ computeMGD() [3/3]

void vpBiclops::computeMGD	(	const vpColVector &	q,
		vpPoseVector &	fPc ) const

inherited

Compute the direct geometric model of the camera in terms of pose vector.

Warning: Provided for compatibility with previous versions. Use rather get_fMc(const vpColVector &, vpPoseVector &).

Parameters

q	: Joint position for pan and tilt axis.
fPc	: Pose vector corresponding to the transformation between the robot reference frame (called fixed) and the camera frame.

See also: get_fMc(const vpColVector &, vpPoseVector &)

Definition at line 147 of file vpBiclops.cpp.

References vpPoseVector::buildFrom(), get_fMc(), and vpHomogeneousMatrix::inverse().

◆ get_cMe() [1/2]

vpHomogeneousMatrix vpBiclops::get_cMe ( ) const

inlineinherited

Return the transformation ${^c}{\bf M}_e$ between the camera frame and the end effector frame.

Definition at line 195 of file vpBiclops.h.

References m_cMe.

Referenced by vpRobotBiclops::get_cMe(), and vpRobotBiclops::get_cVe().

◆ get_cMe() [2/2]

void vpRobotBiclops::get_cMe ( vpHomogeneousMatrix & cMe ) const

Get the homogeneous matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters

cMe	: Homogeneous matrix between camera and end effector frame.

Definition at line 438 of file vpRobotBiclops.cpp.

References vpBiclops::get_cMe().

◆ get_cVe()

void vpRobotBiclops::get_cVe ( vpVelocityTwistMatrix & cVe ) const

Get the twist matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters

cVe	: Twist transformation between camera and end effector frame to express a velocity skew from end effector frame in camera frame.

Definition at line 430 of file vpRobotBiclops.cpp.

References vpVelocityTwistMatrix::buildFrom(), and vpBiclops::get_cMe().

◆ get_eJe() [1/2]

void vpBiclops::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe ) const

inherited

Get the robot jacobian expressed in the end-effector frame.

Warning: Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).

Parameters

[in]	q	: Joint position for pan and tilt axis.
[out]	eJe	: Jacobian between end effector frame and end effector frame (on tilt axis).

Definition at line 212 of file vpBiclops.cpp.

References DH1, vpException::dimensionError, vpArray2D< Type >::getRows(), m_dh_model, and vpArray2D< Type >::resize().

Referenced by vpRobotBiclops::get_eJe().

◆ get_eJe() [2/2]

void vpRobotBiclops::get_eJe ( vpMatrix & eJe )

virtual

Get the robot jacobian expressed in the end-effector frame.

Warning: Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).

Parameters

eJe	: Jacobian between end effector frame and end effector frame (on tilt axis).

Implements vpRobot.

Definition at line 440 of file vpRobotBiclops.cpp.

References vpRobot::eJe, vpBiclops::get_eJe(), getPosition(), and vpRobot::JOINT_STATE.

◆ get_fJe() [1/2]

void vpBiclops::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe ) const

inherited

Get the robot jacobian expressed in the robot reference frame

Parameters

[in]	q	: Joint position for pan and tilt axis.
[out]	fJe	: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Definition at line 237 of file vpBiclops.cpp.

References DH1, vpException::dimensionError, vpArray2D< Type >::getRows(), m_dh_model, and vpArray2D< Type >::resize().

Referenced by vpRobotBiclops::get_fJe().

◆ get_fJe() [2/2]

void vpRobotBiclops::get_fJe ( vpMatrix & fJe )

virtual

Get the robot jacobian expressed in the robot reference frame

Parameters

fJe	: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Implements vpRobot.

Definition at line 448 of file vpRobotBiclops.cpp.

References vpRobot::fJe, vpBiclops::get_fJe(), getPosition(), and vpRobot::JOINT_STATE.

◆ get_fMc() [1/3]

vpHomogeneousMatrix vpBiclops::get_fMc ( const vpColVector & q ) const

inherited

Return the direct geometric model of the camera: fMc

Parameters

[in] q : Joint position for pan and tilt axis.

Returns: fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 76 of file vpBiclops.cpp.

References get_fMc().

◆ get_fMc() [2/3]

void vpBiclops::get_fMc	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc ) const

inherited

Compute the direct geometric model of the camera: fMc

Parameters

[in]	q	: Joint position for pan and tilt axis.
[out]	fMc	: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 57 of file vpBiclops.cpp.

References get_fMe(), m_cMe, and vpCDEBUG.

Referenced by computeMGD(), get_fMc(), get_fMc(), and vpRobotBiclops::getDisplacement().

◆ get_fMc() [3/3]

void vpBiclops::get_fMc	(	const vpColVector &	q,
		vpPoseVector &	fPc ) const

inherited

Compute the direct geometric model of the camera in terms of pose vector.

Parameters

[in]	q	: Joint position for pan and tilt axis.
[out]	fPc	: Pose vector corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 157 of file vpBiclops.cpp.

References vpPoseVector::buildFrom(), get_fMc(), and vpHomogeneousMatrix::inverse().

◆ get_fMe()

vpHomogeneousMatrix vpBiclops::get_fMe ( const vpColVector & q ) const

inherited

Return the direct geometric model of the end effector: fMe

Parameters

[in] q : Joint position for pan and tilt axis.

Returns: fMe, the homogeneous matrix corresponding to the direct geometric model of the end effector. Describes the transformation between the robot reference frame (called fixed) and the end effector frame.

Definition at line 85 of file vpBiclops.cpp.

References DH1, vpException::dimensionError, vpArray2D< Type >::getRows(), and m_dh_model.

Referenced by computeMGD(), and get_fMc().

◆ getDenavitHartenbergModel()

vpBiclops::DenavitHartenbergModel vpBiclops::getDenavitHartenbergModel ( ) const

inlineinherited

Return the Denavit-Hartenberg representation used to model the head.

See also: vpBiclops::DenavitHartenbergModel

Definition at line 278 of file vpBiclops.h.

References m_dh_model.

◆ getDisplacement()

void vpRobotBiclops::getDisplacement	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	d )

virtual

Get the robot displacement since the last call of this method.

Warning: The first call of this method gives not a good value for the displacement.

Parameters

frame	The frame in which the measured displacement is expressed.
d	The displacement:

In joint state, the dimension of q is 2 (the number of axis of the robot) with respectively d[0] (pan displacement), d[1] (tilt displacement).
In camera frame, the dimension of d is 6 (tx, ty, ty, tux, tuy, tuz). Translations are expressed in meters, rotations in radians with the theta U representation.

Exceptions

vpRobotException::wrongStateError If a not supported frame type is given.

Implements vpRobot.

Definition at line 812 of file vpRobotBiclops.cpp.

References vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpBiclops::get_fMc(), getPosition(), vpExponentialMap::inverse(), vpHomogeneousMatrix::inverse(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpBiclops::ndof, vpRobot::REFERENCE_FRAME, and vpRobotException::wrongStateError.

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 272 of file vpRobot.cpp.

References maxRotationVelocity.

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns: Maximum translational velocity expressed in m/s.

Definition at line 250 of file vpRobot.cpp.

References maxTranslationVelocity.

◆ getNDof()

int vpRobot::getNDof ( ) const

inlineinherited

Return robot degrees of freedom number.

Definition at line 142 of file vpRobot.h.

References nDof.

◆ getPosition() [1/2]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 215 of file vpRobot.cpp.

References getPosition().

◆ getPosition() [2/2]

void vpRobotBiclops::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q )

virtual

Return the position of each axis.

In positioning control mode, call vpRobotBiclopsController::getPosition()
In speed control mode, call vpRobotBiclopsController::getActualPosition()

Parameters

frame	: Control frame. This Biclops head can only be controlled in joint state.
q	: The position of the axis in radians.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Implements vpRobot.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 531 of file vpRobotBiclops.cpp.

References vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpBiclops::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), vpRobot::STATE_ACCELERATION_CONTROL, vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, vpColVector::t(), vpCDEBUG, vpDEBUG_TRACE, and vpRobotException::wrongStateError.

Referenced by get_eJe(), get_fJe(), and getDisplacement().

◆ getPositioningVelocity()

double vpRobotBiclops::getPositioningVelocity ( void )

Get the velocity in % used for a position control.

Returns: Positioning velocity in [0, 100.0]. The maximum positioning velocity is given vpBiclops::speedLimit.

Definition at line 466 of file vpRobotBiclops.cpp.

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 180 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 152 of file vpRobot.h.

◆ getVelocity() [1/2]

vpColVector vpRobotBiclops::getVelocity ( const vpRobot::vpControlFrameType frame )

Return the joint velocity.

Parameters

frame : Control frame. This head can only be controlled in joint state.

Returns: The measured joint velocity in rad/s.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Definition at line 746 of file vpRobotBiclops.cpp.

References getVelocity().

◆ getVelocity() [2/2]

void vpRobotBiclops::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q_dot )

Get the joint velocity.

Parameters

frame	: Control frame. This head can only be controlled in joint state.
q_dot	: The measured joint velocity in rad/s.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Definition at line 683 of file vpRobotBiclops.cpp.

References vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpBiclops::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), vpRobot::STATE_ACCELERATION_CONTROL, vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, vpColVector::t(), vpCDEBUG, vpDEBUG_TRACE, and vpRobotException::wrongStateError.

Referenced by getVelocity().

◆ init()

void vpRobotBiclops::init ( void )

virtual

Set the Biclops config filename. Check if the config file exists and initialize the head.

Exceptions

vpRobotException::constructionError If the config file cannot be opened.

Implements vpRobot.

Definition at line 116 of file vpRobotBiclops.cpp.

References vpRobotException::constructionError, vpBiclops::ndof, setRobotState(), vpRobot::STATE_STOP, vpCERROR, and vpERROR_TRACE.

Referenced by vpRobotBiclops().

◆ readPositionFile()

bool vpRobotBiclops::readPositionFile	(	const std::string &	filename,
		vpColVector &	q )

Get joint positions from the position file.

Parameters

filename	: Position file.
q	: The joint positions read in the file.

# Example of Biclops position file
# The axis positions must be preceeded by R:
# First value : pan  joint position in degrees
# Second value: tilt joint position in degrees
R: 15.0 5.0

Returns: true if a position was found, false otherwise.

Definition at line 754 of file vpRobotBiclops.cpp.

References vpColVector::deg2rad(), vpBiclops::ndof, vpColVector::resize(), and vpIoTools::splitChain().

Referenced by setPosition().

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = false )

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns: Saturated velocities.

Exceptions

vpRobotException::dimensionError : If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
 
#include <visp3/robot/vpRobot.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
 
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
 
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
 
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
 
  return 0;
}

Definition at line 162 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpRobotAfma6::setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

◆ set_cMe() [1/2]

void vpBiclops::set_cMe ( )

inherited

Set the default homogeneous matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

$\‍[ {^c}{\bf M}_e = \left( \begin{matrix} 0 & 1 & 0 & 0 \\ -1 & 0 & 0 & h \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{matrix} \right) \‍]$

Definition at line 187 of file vpBiclops.cpp.

References h, and m_cMe.

Referenced by init().

◆ set_cMe() [2/2]

void vpBiclops::set_cMe ( const vpHomogeneousMatrix & cMe )

inlineinherited

Set the transformation between the camera frame and the end effector frame.

Definition at line 302 of file vpBiclops.h.

References m_cMe.

◆ setConfigFile()

void vpRobotBiclops::setConfigFile ( const std::string & filename = "/usr/share/BiclopsDefault.cfg" )

Set the Biclops config filename.

Definition at line 114 of file vpRobotBiclops.cpp.

Referenced by vpRobotBiclops(), and vpRobotBiclops().

◆ setDenavitHartenbergModel()

void vpBiclops::setDenavitHartenbergModel ( vpBiclops::DenavitHartenbergModel dh_model = vpBiclops::DH1 )

inlineinherited

Set the Denavit-Hartenberg representation used to model the head.

Parameters

[in] dh_model : Denavit-Hartenberg model.

See also: vpBiclops::DenavitHartenbergModel

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 309 of file vpBiclops.h.

References DH1, and m_dh_model.

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max : Maximum rotational velocity expressed in rad/s.

Examples: servoMomentPoints.cpp.

Definition at line 259 of file vpRobot.cpp.

References maxRotationVelocity.

Referenced by init(), vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max : Maximum translation velocity expressed in m/s.

Examples: servoMomentPoints.cpp.

Definition at line 238 of file vpRobot.cpp.

References maxTranslationVelocity.

Referenced by init(), and vpSimulatorAfma6::setPosition().

◆ setPosition() [1/3]

void vpRobotBiclops::setPosition ( const std::string & filename )

Read the content of the position file and moves the head to joint positions.

Parameters

filename : Position filename

Exceptions

vpRobotException::readingParametersError : If the joint positions cannot be read from file.

See also: readPositionFile()

Definition at line 521 of file vpRobotBiclops.cpp.

References vpRobot::JOINT_STATE, vpRobotException::readingParametersError, readPositionFile(), setPosition(), and vpERROR_TRACE.

◆ setPosition() [2/3]

void vpRobotBiclops::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const double &	q1,
		const double &	q2 )

Move the robot in position control.

Warning: This method is blocking. That mean that it wait the end of the positioning.

Parameters

frame	: Control frame. This Biclops head can only be controlled in joint state.
q1	: The pan joint position to set in radians.
q2	: The tilt joint position to set in radians.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Definition at line 506 of file vpRobotBiclops.cpp.

References setPosition(), and vpERROR_TRACE.

◆ setPosition() [3/3]

void vpRobotBiclops::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	q )

virtual

Move the robot in position control.

Warning: This method is blocking. That mean that it waits the end of the positioning.

Parameters

frame	: Control frame. This Biclops head can only be controlled in joint state.
q	: The joint position to set for each axis in radians.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Implements vpRobot.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 468 of file vpRobotBiclops.cpp.

References vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, setRobotState(), vpRobot::STATE_POSITION_CONTROL, vpDEBUG_TRACE, vpERROR_TRACE, and vpRobotException::wrongStateError.

Referenced by setPosition(), and setPosition().

◆ setPositioningVelocity()

void vpRobotBiclops::setPositioningVelocity ( double velocity )

Set the velocity used for a position control.

Parameters

velocity : Velocity in % of the maximum velocity between [0,100]. The maximum velocity is given vpBiclops::speedLimit.

Definition at line 456 of file vpRobotBiclops.cpp.

References vpRobotException::constructionError, and vpERROR_TRACE.

◆ setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 206 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpSimulatorViper850::setVelocity().

◆ setRobotState()

vpRobot::vpRobotStateType vpRobotBiclops::setRobotState ( const vpRobot::vpRobotStateType newState )

virtual

Change the state of the robot either to stop them, or to set position or speed control.

Reimplemented from vpRobot.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 383 of file vpRobotBiclops.cpp.

References vpRobot::getRobotState(), vpRobot::setRobotState(), vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, stopMotion(), vpDEBUG_TRACE, vpRobotBiclopsSpeedControlLoop(), and vpTime::wait().

Referenced by init(), setPosition(), and ~vpRobotBiclops().

◆ setVelocity()

void vpRobotBiclops::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	q_dot )

virtual

Send a velocity on each axis.

Parameters

frame	: Control frame. This Biclops head can only be controlled in joint state. Be aware, the camera frame (vpRobot::CAMERA_FRAME), the reference frame (vpRobot::REFERENCE_FRAME), end-effector frame (vpRobot::END_EFFECTOR_FRAME) and the mixt frame (vpRobot::MIXT_FRAME) are not implemented.
q_dot	: The desired joint velocities for each axis in rad/s. $\dot {r} = [\dot{q}_1, \dot{q}_2]^t$ with $\dot{q}_1$ the pan of the camera and $\dot{q}_2$ the tilt of the camera.

Exceptions

vpRobotException::wrongStateError	: If a the robot is not configured to handle a velocity. The robot can handle a velocity only if the velocity control mode is set. For that, call setRobotState( vpRobot::STATE_VELOCITY_CONTROL) before setVelocity().
vpRobotException::wrongStateError	: If a not supported frame type (vpRobot::CAMERA_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::END_EFFECTOR_FRAME or vpRobot::MIXT_FRAME) is given.

Warning: Velocities could be saturated if one of them exceed the maximal authorized speed (see vpRobot::maxRotationVelocity).

Implements vpRobot.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 594 of file vpRobotBiclops.cpp.

References vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpArray2D< Type >::getRows(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpBiclops::ndof, vpRobot::REFERENCE_FRAME, vpBiclops::speedLimit, vpRobot::STATE_VELOCITY_CONTROL, vpColVector::t(), vpCDEBUG, vpDEBUG_TRACE, vpERROR_TRACE, and vpRobotException::wrongStateError.

◆ setVerbose()

void vpRobot::setVerbose ( bool verbose )

inlineinherited

Definition at line 167 of file vpRobot.h.

References verbose_.

Referenced by vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ stopMotion()

void vpRobotBiclops::stopMotion ( void )

Halt all the axis.

Definition at line 421 of file vpRobotBiclops.cpp.

References vpBiclops::ndof.

Referenced by setRobotState().

◆ vpRobotBiclopsSpeedControlLoop()

void vpRobotBiclops::vpRobotBiclopsSpeedControlLoop ( void * arg )

static

Definition at line 144 of file vpRobotBiclops.cpp.

References vpMath::deg(), vpMath::maximum(), vpBiclops::ndof, vpBiclops::panJointLimit, vpMath::rad(), vpBiclops::tiltJointLimit, vpDEBUG_TRACE, and vpTime::wait().

Referenced by setRobotState().

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 111 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

◆ defaultPositioningVelocity

BEGIN_VISP_NAMESPACE const double vpRobotBiclops::defaultPositioningVelocity = 10.0

static

Definition at line 94 of file vpRobotBiclops.h.

Referenced by vpRobotBiclops(), and vpRobotBiclops().

◆ eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 103 of file vpRobot.h.

Referenced by vpRobotAfma6::get_eJe(), vpRobotBiclops::get_eJe(), vpRobotCamera::get_eJe(), vpRobotFlirPtu::get_eJe(), vpRobotFlirPtu::get_eJe(), vpRobotKinova::get_eJe(), vpRobotPioneer::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotPtu46::get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpSimulatorCamera::get_eJe(), operator=(), vpRobot(), and vpRobot().

◆ eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 105 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

◆ fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

Referenced by vpRobotAfma6::get_fJe(), vpRobotBiclops::get_fJe(), vpRobotFlirPtu::get_fJe(), vpRobotFlirPtu::get_fJe(), vpRobotKinova::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotPtu46::get_fJe(), vpRobotViper650::get_fJe(), vpRobotViper850::get_fJe(), operator=(), vpRobot(), and vpRobot().

◆ fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 109 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

◆ h

const float vpBiclops::h = 0.048f

staticinherited

Vertical offset from last joint to camera frame used in set_cMe().

Definition at line 104 of file vpBiclops.h.

Referenced by operator<<, and set_cMe().

◆ m_cMe

vpHomogeneousMatrix vpBiclops::m_cMe

protectedinherited

Camera frame to PT end-effector frame transformation.

Definition at line 111 of file vpBiclops.h.

Referenced by computeMGD(), get_cMe(), get_cVe(), get_fMc(), set_cMe(), set_cMe(), and vpBiclops().

◆ m_dh_model

DenavitHartenbergModel vpBiclops::m_dh_model

protectedinherited

Denavit-Hartenberg model.

Definition at line 110 of file vpBiclops.h.

Referenced by get_eJe(), get_fJe(), get_fMe(), getDenavitHartenbergModel(), init(), setDenavitHartenbergModel(), and vpBiclops().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 97 of file vpRobot.h.

Referenced by getMaxRotationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), operator=(), setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobot(), vpRobot(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 98 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot(), and vpRobot().

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 95 of file vpRobot.h.

Referenced by getMaxTranslationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), operator=(), setMaxTranslationVelocity(), vpRobot(), and vpRobot().

◆ maxTranslationVelocityDefault

BEGIN_VISP_NAMESPACE const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 96 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot(), and vpRobot().

◆ nDof

int vpRobot::nDof

protectedinherited

◆ ndof

BEGIN_VISP_NAMESPACE const unsigned int vpBiclops::ndof = 2

staticinherited

Number of dof.

Examples: moveBiclops.cpp, and servoBiclopsPoint2DArtVelocity.cpp.

Definition at line 101 of file vpBiclops.h.

Referenced by vpRobotBiclops::getDisplacement(), vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpRobotBiclops::init(), vpRobotBiclops::readPositionFile(), vpRobotBiclops::setVelocity(), vpRobotBiclops::stopMotion(), and vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

◆ panJointLimit

const float vpBiclops::panJointLimit = static_cast<float>(M_PI)

staticinherited

Pan axis +/- joint limit in rad.

Definition at line 105 of file vpBiclops.h.

Referenced by vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

◆ qmax

double* vpRobot::qmax

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by operator=(), vpRobot(), vpRobot(), and ~vpRobot().

◆ qmin

double* vpRobot::qmin

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by operator=(), vpRobot(), vpRobot(), and ~vpRobot().

◆ speedLimit

const float vpBiclops::speedLimit = static_cast<float>(M_PI / 3.0)

staticinherited

Pan and tilt axis max velocity in rad/s to perform a displacement.

Definition at line 107 of file vpBiclops.h.

Referenced by vpRobotBiclops::setVelocity().

◆ tiltJointLimit

const float vpBiclops::tiltJointLimit = static_cast<float>(M_PI / 4.5)

staticinherited

Tilt axis +/- joint limit in rad.

Definition at line 106 of file vpBiclops.h.

Referenced by vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

◆ verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 115 of file vpRobot.h.

Referenced by vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), operator=(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), setVerbose(), vpRobotWireFrameSimulator::setVerbose(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobot(), vpRobot(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ DenavitHartenbergModel

◆ vpControlFrameType

◆ vpRobotStateType

Constructor & Destructor Documentation

◆ vpRobotBiclops() [1/2]

◆ vpRobotBiclops() [2/2]

◆ ~vpRobotBiclops()

Member Function Documentation

◆ computeMGD() [1/3]

◆ computeMGD() [2/3]

◆ computeMGD() [3/3]

◆ get_cMe() [1/2]

◆ get_cMe() [2/2]

◆ get_cVe()

◆ get_eJe() [1/2]

◆ get_eJe() [2/2]

◆ get_fJe() [1/2]

◆ get_fJe() [2/2]

◆ get_fMc() [1/3]

◆ get_fMc() [2/3]

◆ get_fMc() [3/3]

◆ get_fMe()

◆ getDenavitHartenbergModel()

◆ getDisplacement()

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getNDof()

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ getPositioningVelocity()

◆ getRobotFrame()

◆ getRobotState()

◆ getVelocity() [1/2]

◆ getVelocity() [2/2]

◆ init()

◆ readPositionFile()

◆ saturateVelocities()

◆ set_cMe() [1/2]

◆ set_cMe() [2/2]

◆ setConfigFile()

◆ setDenavitHartenbergModel()

◆ setMaxRotationVelocity()

◆ setMaxTranslationVelocity()

◆ setPosition() [1/3]

◆ setPosition() [2/3]

◆ setPosition() [3/3]

◆ setPositioningVelocity()

◆ setRobotFrame()

◆ setRobotState()

◆ setVelocity()

◆ setVerbose()

◆ stopMotion()

◆ vpRobotBiclopsSpeedControlLoop()

Member Data Documentation

◆ areJointLimitsAvailable

◆ defaultPositioningVelocity

◆ eJe

◆ eJeAvailable

◆ fJe

◆ fJeAvailable

◆ h

◆ m_cMe

◆ m_dh_model

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

◆ maxTranslationVelocity

◆ maxTranslationVelocityDefault

◆ nDof

◆ ndof

◆ panJointLimit

◆ qmax