#include <vpRobotCamera.h>

Inheritance diagram for vpRobotCamera:

Collaboration diagram for vpRobotCamera:

Public Types
enum	vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }

enum	vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, CAMERA_FRAME, MIXT_FRAME }

Public Member Functions
	vpRobotCamera ()

virtual	~vpRobotCamera ()

void	get_cVe (vpVelocityTwistMatrix &cVe)

void	get_eJe (vpMatrix &eJe)

void	getPosition (vpHomogeneousMatrix &cMw) const

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

void	setPosition (const vpHomogeneousMatrix &cMw)

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

double	getSamplingTime () const

virtual void	setSamplingTime (const double &delta_t)

double	getMaxTranslationVelocity (void) const

double	getMaxRotationVelocity (void) const

vpColVector	getPosition (const vpRobot::vpControlFrameType frame)

virtual vpRobotStateType	getRobotState (void)

void	setMaxRotationVelocity (const double maxVr)

void	setMaxTranslationVelocity (const double maxVt)

virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)

void	setVerbose (bool verbose)

Static Public Member Functions
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Protected Member Functions
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

vpControlFrameType	getRobotFrame (void)

Protected Attributes
vpHomogeneousMatrix	cMw_

double	delta_t_

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

Class that defines the simplest robot: a free flying camera.

This free flying camera has 6 dof; 3 in translation and 3 in rotation. It evolves as a gentry robot with respect to a world frame. This class is similar to vpSimulatorCamera class except that here the position of the robot is provided as the transformation from camera frame to world frame; cMw. Since the position of the camera frame evolves, this representation is less intuitive than the one implemented in vpSimulatorCamera where the transformation from world to camera frame is considered; wMc.

Note: We recommend to use vpSimulatorCamera rather than vpRobotCamera.

For this particular simulated robot, the end-effector and camera frame are confused. That means that the cMe transformation is equal to identity.

The robot jacobian expressed in the end-effector frame ${^e}{\bf J}_e$ is also set to identity (see get_eJe()).

The following code shows how to control this robot in position and velocity.

#include <visp/vpRobotCamera.h>
int main()
{
  vpHomogeneousMatrix cMw;
  vpRobotCamera robot;
  robot.getPosition(cMw); // Position of the camera in the world frame
  std::cout << "Default position of the camera in the world frame cMw:\n" << cMw << std::endl;
  cMw[2][3] = 1.; // World frame is 1 meter along z axis in front of the camera frame
  robot.setPosition(cMw); // Set the new position of the camera wrt the world frame
  std::cout << "New position of the camera wrt the world frame cMw:\n" << cMw << std::endl;
  robot.setSamplingTime(0.100); // Modify the default sampling time to 0.1 second
  robot.setMaxTranslationVelocity(1.); // vx, vy and vz max set to 1 m/s
  robot.setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
  vpColVector v(6);
  v = 0;
  v[2] = 1.; // set v_z to 1 m/s
  robot.setVelocity(vpRobot::CAMERA_FRAME, v);
  // The robot has moved from 0.1 meters along the z axis
  robot.getPosition(cMw); // Position of the camera wrt the world frame
  std::cout << "New position of the camera cMw:\n" << cMw << std::endl;
}

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, photometricVisualServoing.cpp, servoMomentImage.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 110 of file vpRobotCamera.h.

Member Enumeration Documentation

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 space.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 78 of file vpRobot.h.

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.

Definition at line 66 of file vpRobot.h.

Constructor & Destructor Documentation

vpRobotCamera::vpRobotCamera ( )

Constructor.

Initialise the robot by a call to init().

Sampling time is set to 40 ms. To change it you should call setSamplingTime().

Robot jacobian expressed in the end-effector frame ${^e}{\bf J}_e$ is set to identity (see get_eJe()).

vpRobotCamera robot;
robot.setSamplingTime(0.020); // Set the sampling time to 20 ms.

Definition at line 74 of file vpRobotCamera.cpp.

vpRobotCamera::~vpRobotCamera ( )

virtual

Destructor.

Definition at line 106 of file vpRobotCamera.cpp.

Member Function Documentation

void vpRobotCamera::get_cVe ( vpVelocityTwistMatrix & cVe )

Get the twist transformation from camera frame to end-effector frame. This transformation allows to compute a velocity expressed in the end-effector frame into the camera frame.

Parameters

cVe	: Twist transformation. Here this transformation is equal to identity since camera frame and end-effector frame are at the same location.

Examples:: servoBiclopsPoint2DArtVelocity.cpp.

Definition at line 121 of file vpRobotCamera.cpp.

void vpRobotCamera::get_eJe ( vpMatrix & eJe )

virtual

Get the robot jacobian expressed in the end-effector frame. For that simple robot the Jacobian is the identity.

Parameters

eJe	: A 6 by 6 matrix representing the robot jacobian ${^e}{\bf J}_e$ expressed in the end-effector frame.

Implements vpRobot.

Examples:: manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 135 of file vpRobotCamera.cpp.

References vpRobot::eJe.

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 228 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

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double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

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

Returns: Maximum translation velocity expressed in m/s.

Definition at line 203 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition(), setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

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void vpRobotCamera::getPosition ( vpHomogeneousMatrix & cMw ) const

Get the robot position as the transformation from camera frame to world frame.

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, moveBiclops.cpp, photometricVisualServoing.cpp, servoMomentImage.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 215 of file vpRobotCamera.cpp.

References cMw_.

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

virtual

Get the robot position (frame has to be specified).

Implements vpRobot.

Definition at line 240 of file vpRobotCamera.cpp.

References vpRobot::ARTICULAR_FRAME, vpRxyzVector::buildFrom(), vpRobot::CAMERA_FRAME, cMw_, vpHomogeneousMatrix::extract(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, and vpColVector::resize().

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

inherited

Return the current robot position in the specified frame.

Definition at line 171 of file vpRobot.cpp.

vpControlFrameType vpRobot::getRobotFrame ( void )

inlineprotectedinherited

Definition at line 159 of file vpRobot.h.

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

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virtual vpRobotStateType vpRobot::getRobotState ( void )

inlinevirtualinherited

Definition at line 139 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), setPosition(), vpSimulatorCamera::setPosition(), vpRobotPtu46::setPosition(), vpRobotBiclops::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma4::setPosition(), vpRobotAfma6::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotViper650::stopMotion(), and vpRobotViper850::stopMotion().

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double vpRobotSimulator::getSamplingTime ( ) const

inlineinherited

Return the sampling time.

Returns: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Examples:: tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 83 of file vpRobotSimulator.h.

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

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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 <visp/vpRobot.h>
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 116 of file vpRobot.cpp.

References vpException::dimensionError, and vpColVector::size().

Referenced by setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

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void vpRobot::setMaxRotationVelocity ( const double w_max )

inherited

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

Parameters

w_max : Maximum rotation velocity expressed in rad/s.

Examples:: servoMomentPoints.cpp, servoSimu4Points.cpp, and servoSimuSphere.cpp.

Definition at line 215 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

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void vpRobot::setMaxTranslationVelocity ( const 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, servoSimu4Points.cpp, and servoSimuSphere.cpp.

Definition at line 191 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

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void vpRobotCamera::setPosition ( const vpHomogeneousMatrix & cMw )

Set the robot position as the transformation from camera frame to world frame.

Examples:: HelloWorldOgreAdvanced.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, moveBiclops.cpp, photometricVisualServoing.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPolygon.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 274 of file vpRobotCamera.cpp.

References cMw_, vpRobot::getRobotState(), vpRobot::setRobotState(), and vpRobot::STATE_POSITION_CONTROL.

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

protectedinherited

Definition at line 161 of file vpRobot.cpp.

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

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

virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, and vpRobotPtu46.

Examples:: moveBiclops.cpp, photometricVisualServoing.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 154 of file vpRobot.cpp.

Referenced by setPosition(), vpSimulatorCamera::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

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virtual void vpRobotSimulator::setSamplingTime ( const double & delta_t )

inlinevirtualinherited

Set the sampling time.

Parameters

delta_t : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Reimplemented in vpRobotWireFrameSimulator.

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, photometricVisualServoing.cpp, servoMomentImage.cpp, servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 95 of file vpRobotSimulator.h.

Referenced by vpRobotSimulator::vpRobotSimulator().

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void vpRobotCamera::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	v
	)

virtual

Send to the controller a velocity.

Parameters

frame	: Control frame type. Only articular (vpRobot::ARTICULAR_FRAME) and camera frame (vpRobot::CAMERA_FRAME) are implemented.
v	: Velocity to apply to the robot.

In the camera frame, this velocity is represented by a vector of dimension 6 ${\bf v} = [{\bf t}, {\bf \theta u }]^t$ where $\bf t$ is a translation vector and ${\bf \theta u}$ is a rotation vector (see vpThetaUVector): ${\bf v} = [t_x, t_y, t_z, {\theta u}_x, {\theta u}_y, {\theta u}_z]$ (see vpTranslationVector and vpThetaUVector).
In articular, this velocity is represented by a 6 dimension vector $\dot{{\bf q}} = [{\bf t}, {\bf \theta u}]^t$ where $\bf t$ is a translation vector and ${\bf \theta u}$ is a rotation vector (see vpThetaUVector): $\dot{{\bf q}} = [t_x, t_y, t_z, {\theta u}_x, {\theta u}_y, {\theta u}_z]$ (see vpTranslationVector and vpThetaUVector). The robot jacobian ${^e}{\bf J}_e$ expressed in the end-effector frame is here set to identity.