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vpRobotBiclops.h
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/****************************************************************************
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*
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* $Id: vpRobotBiclops.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 Biclops robot.
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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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#include <visp/vpConfig.h>
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#ifdef VISP_HAVE_BICLOPS
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#ifndef __vpROBOT_BICLOPS_H
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#define __vpROBOT_BICLOPS_H
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/* ------------------------------------------------------------------------ */
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/* --- INCLUDES ----------------------------------------------------------- */
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/* ------------------------------------------------------------------------ */
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/* --- GENERAL --- */
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#include <iostream>
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#include <stdio.h>
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#include <pthread.h>
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/* --- ViSP --- */
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#include <visp/vpRobot.h>
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#include <visp/vpBiclops.h>
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#include <visp/vpColVector.h>
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#include <visp/vpVelocityTwistMatrix.h>
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#include <visp/vpRobotBiclopsController.h>
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/* ------------------------------------------------------------------------ */
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/* --- CLASS -------------------------------------------------------------- */
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/* ------------------------------------------------------------------------ */
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class
VISP_EXPORT
vpRobotBiclops
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:
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public
vpBiclops
,
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public
vpRobot
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{
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private
:
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vpRobotBiclops
(
const
vpRobotBiclops
& ass);
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void
getCameraDisplacement(
vpColVector
&d);
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void
getArticularDisplacement(
vpColVector
&d);
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private
:
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static
bool
robotAlreadyCreated;
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pthread_t control_thread;
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char
configfile[FILENAME_MAX];
// Biclops config file
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vpRobotBiclopsController
controller;
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double
positioningVelocity;
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vpColVector
q_previous;
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bool
controlThreadCreated;
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public
:
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static
const
double
defaultPositioningVelocity
;
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vpRobotBiclops
(
void
);
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vpRobotBiclops
(
const
char
* filename);
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virtual
~
vpRobotBiclops
(
void
);
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void
init
(
void
);
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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
getDisplacement
(
const
vpRobot::vpControlFrameType
frame,
vpColVector
&d);
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void
getPosition
(
const
vpRobot::vpControlFrameType
frame,
vpColVector
&q);
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double
getPositioningVelocity (
void
);
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void
getVelocity (
const
vpRobot::vpControlFrameType
frame,
vpColVector
& q_dot);
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vpColVector
getVelocity (
const
vpRobot::vpControlFrameType
frame);
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bool
readPositionFile(
const
char
*filename,
vpColVector
&q) ;
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void
setConfigFile (
const
char
* filename=
"/usr/share/BiclopsDefault.cfg"
);
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void
setPosition
(
const
vpRobot::vpControlFrameType
frame,
const
vpColVector
&q) ;
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void
setPosition
(
const
vpRobot::vpControlFrameType
frame,
const
double
&q1,
const
double
&q2) ;
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void
setPosition
(
const
char
*filename) ;
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void
setPositioningVelocity (
const
double
velocity);
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vpRobot::vpRobotStateType
setRobotState
(
const
vpRobot::vpRobotStateType
newState);
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void
setVelocity
(
const
vpRobot::vpControlFrameType
frame,
const
vpColVector
& q_dot);
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void
stopMotion() ;
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static
void
* vpRobotBiclopsSpeedControlLoop (
void
* arg);
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};
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#endif
/* #ifndef __vpROBOT_BICLOPS_H */
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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
src
robot
real-robot
biclops
vpRobotBiclops.h
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