ViSP
Main Page
Related Pages
Modules
Classes
Examples
All
Classes
Functions
Variables
Enumerations
Enumerator
Friends
Groups
Pages
vpRobotPtu46.h
1
/****************************************************************************
2
*
3
* $Id: vpRobotPtu46.h 4056 2013-01-05 13:04:42Z 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 ptu-46 robot.
36
*
37
* Authors:
38
* Fabien Spindler
39
*
40
*****************************************************************************/
41
42
43
#include <visp/vpConfig.h>
44
#ifdef VISP_HAVE_PTU46
45
46
47
#ifndef __vpROBOT_PTU46_H
48
#define __vpROBOT_PTU46_H
49
50
51
/* ------------------------------------------------------------------------ */
52
/* --- INCLUDES ----------------------------------------------------------- */
53
/* ------------------------------------------------------------------------ */
54
55
/* --- GENERAL --- */
56
#include <iostream>
57
#include <stdio.h>
58
59
60
/* --- ViSP --- */
61
#include <visp/vpRobot.h>
62
#include <visp/vpPtu46.h>
63
#include <visp/vpColVector.h>
64
#include <visp/vpDebug.h>
65
#include <visp/vpVelocityTwistMatrix.h>
66
67
#include <ptu.h>
// Contrib for Ptu-46 robot
68
69
/* ------------------------------------------------------------------------ */
70
/* --- CLASS ------------------------------------------------------------- */
71
/* ------------------------------------------------------------------------ */
72
73
88
class
VISP_EXPORT
vpRobotPtu46
89
:
90
public
vpPtu46
,
91
public
vpRobot
92
{
93
94
private
:
95
97
vpRobotPtu46
(
const
vpRobotPtu46
& ass);
98
100
Ptu ptu;
101
102
private
:
103
static
bool
robotAlreadyCreated;
104
double
positioningVelocity;
105
int
velocityMesureTempo;
106
char
*device;
107
108
public
:
109
static
const
double
defaultPositioningVelocity
;
110
111
vpRobotPtu46
(
const
char
*device=
"/dev/ttyS0"
);
112
vpRobotPtu46
(
vpRobotPtu46
* pub);
113
virtual
~
vpRobotPtu46
(
void
);
114
115
void
get_cMe
(
vpHomogeneousMatrix
&_cMe) ;
116
void
get_cVe
(
vpVelocityTwistMatrix
&_cVe) ;
117
void
get_eJe
(
vpMatrix
&_eJe);
118
void
get_fJe
(
vpMatrix
&_fJe);
119
120
void
getDisplacement
(
vpRobot::vpControlFrameType
frame,
vpColVector
&q);
121
void
getPosition
(
const
vpRobot::vpControlFrameType
frame,
vpColVector
&q);
122
double
getPositioningVelocity (
void
);
123
void
getVelocity (
const
vpRobot::vpControlFrameType
frame,
vpColVector
& q_dot);
124
vpColVector
getVelocity (
const
vpRobot::vpControlFrameType
frame);
125
126
void
init
(
void
);
127
128
bool
readPositionFile(
const
char
*filename,
vpColVector
&q);
129
130
void
setPosition
(
const
vpRobot::vpControlFrameType
frame,
const
vpColVector
&q) ;
131
void
setPosition
(
const
vpRobot::vpControlFrameType
frame,
const
double
&q1,
const
double
&q2) ;
132
void
setPosition
(
const
char
*filename) ;
133
void
setPositioningVelocity (
const
double
velocity);
134
vpRobot::vpRobotStateType
setRobotState
(
vpRobot::vpRobotStateType
newState);
135
136
void
setVelocity
(
const
vpRobot::vpControlFrameType
frame,
const
vpColVector
& q_dot);
137
138
void
stopMotion() ;
139
140
private
:
141
void
getCameraDisplacement(
vpColVector
&d);
142
void
getArticularDisplacement(
vpColVector
&d);
143
};
144
145
146
147
#endif
/* #ifndef __vpROBOT_PTU46_H */
148
149
150
/*
151
* Local variables:
152
* c-basic-offset: 2
153
* End:
154
*/
155
156
#endif
src
robot
real-robot
ptu46
vpRobotPtu46.h
Generated on Wed Jun 12 2013 05:39:46 for ViSP by
1.8.1.2