Visual Servoing Platform version 3.6.0
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vpSimulatorCamera.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Defines the simplest robot : a free flying camera.
33 *
34*****************************************************************************/
35
41#include <visp3/core/vpDebug.h>
42#include <visp3/core/vpExponentialMap.h>
43#include <visp3/core/vpHomogeneousMatrix.h>
44#include <visp3/robot/vpRobotException.h>
45#include <visp3/robot/vpSimulatorCamera.h>
46
53
61void vpSimulatorCamera::init()
62{
63 nDof = 6;
64 eJe.eye(6, 6);
65 eJeAvailable = true;
66 fJeAvailable = false;
68 qmin = NULL;
69 qmax = NULL;
70
71 setMaxTranslationVelocity(1.); // vx, vy and vz max set to 1 m/s
72 setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
73}
74
80
92{
94 cVe = cVe_;
95}
96
105void vpSimulatorCamera::get_eJe(vpMatrix &eJe_) { eJe_ = this->eJe; }
106
117
118/*
119 Get the current position of the camera.
120
121 \param frame : Control frame type in which to get the position, either :
122 - in the camera cartesien frame,
123 - joint (articular) coordinates of each axes
124 - in a reference or fixed cartesien frame attached to the robot base
125 - in a mixt cartesien frame (translation in reference frame, and rotation in
126 camera frame)
127
128 \param position : Measured position of the robot:
129 - in camera cartesien frame, a 6 dimension vector, set to 0.
130
131 - in articular, a 6 dimension vector corresponding to the articular
132 position of each dof, first the 3 translations, then the 3
133 articular rotation positions represented by a vpRxyzVector.
134
135 - in reference frame, a 6 dimension vector, the first 3 values correspond to
136 the translation tx, ty, tz in meters (like a vpTranslationVector), and the
137 last 3 values to the rx, ry, rz rotation (like a vpRxyzVector).
138*/
140{
141 q.resize(6);
142
143 switch (frame) {
145 q = 0;
146 break;
147
150 // Convert wMc_ to a position
151 // From fMc extract the pose
153 this->wMc_.extract(wRc);
154 vpRxyzVector rxyz;
155 rxyz.buildFrom(wRc);
156
157 for (unsigned int i = 0; i < 3; i++) {
158 q[i] = this->wMc_[i][3]; // translation x,y,z
159 q[i + 3] = rxyz[i]; // Euler rotation x,y,z
160 }
161
162 break;
163 }
165 std::cout << "MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
166 break;
168 std::cout << "END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
169 break;
170 }
171}
172
196{
199 }
200
201 switch (frame) {
204 vpColVector v_max(6);
205
206 for (unsigned int i = 0; i < 3; i++)
207 v_max[i] = getMaxTranslationVelocity();
208 for (unsigned int i = 3; i < 6; i++)
209 v_max[i] = getMaxRotationVelocity();
210
211 vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
212
214 setRobotFrame(frame);
215 break;
216 }
218 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the reference frame:"
219 "functionality not implemented");
220 break;
222 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the mixt frame:"
223 "functionality not implemented");
224
225 break;
227 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the end-effector frame:"
228 "functionality not implemented");
229
230 break;
231 }
232}
233
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void extract(vpRotationMatrix &R) const
static double rad(double deg)
Definition vpMath.h:116
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
void eye()
Definition vpMatrix.cpp:446
Error that can be emitted by the vpRobot class and its derivatives.
@ wrongStateError
Wrong robot state.
int nDof
number of degrees of freedom
Definition vpRobot.h:100
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition vpRobot.h:102
virtual vpRobotStateType getRobotState(void) const
Definition vpRobot.h:142
double * qmin
Definition vpRobot.h:111
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition vpRobot.cpp:160
vpControlFrameType
Definition vpRobot.h:73
@ REFERENCE_FRAME
Definition vpRobot.h:74
@ ARTICULAR_FRAME
Definition vpRobot.h:76
@ MIXT_FRAME
Definition vpRobot.h:84
@ CAMERA_FRAME
Definition vpRobot.h:80
@ END_EFFECTOR_FRAME
Definition vpRobot.h:79
double * qmax
Definition vpRobot.h:112
int areJointLimitsAvailable
Definition vpRobot.h:110
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition vpRobot.h:108
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition vpRobot.h:65
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
double getMaxRotationVelocity(void) const
Definition vpRobot.cpp:270
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition vpRobot.h:104
double getMaxTranslationVelocity(void) const
Definition vpRobot.cpp:248
void setMaxRotationVelocity(double maxVr)
Definition vpRobot.cpp:257
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
Definition vpRobot.cpp:204
void setMaxTranslationVelocity(double maxVt)
Definition vpRobot.cpp:236
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void get_eJe(vpMatrix &eJe)
vpHomogeneousMatrix wMc_
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setPosition(const vpHomogeneousMatrix &wMc)
vpHomogeneousMatrix getPosition() const
void get_cVe(vpVelocityTwistMatrix &cVe) const