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vpViper.h
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/****************************************************************************
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*
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* $Id: vpViper.h 4056 2013-01-05 13:04:42Z 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 a generic ADEPT Viper (either 650 or 850) 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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#ifndef vpViper_h
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#define vpViper_h
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#include <visp/vpHomogeneousMatrix.h>
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#include <visp/vpImage.h>
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#include <visp/vpRGBa.h>
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#include <visp/vpCameraParameters.h>
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#include <visp/vpVelocityTwistMatrix.h>
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#include <visp/vpRobotException.h>
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class
VISP_EXPORT
vpViper
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{
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public
:
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vpViper
();
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virtual
~vpViper
() {};
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vpHomogeneousMatrix
getForwardKinematics(
const
vpColVector
& q);
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unsigned
int
getInverseKinematicsWrist(
const
vpHomogeneousMatrix
& fMw,
vpColVector
& q);
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unsigned
int
getInverseKinematics(
const
vpHomogeneousMatrix
& fMc,
vpColVector
& q);
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vpHomogeneousMatrix
get_fMc (
const
vpColVector
& q);
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void
get_fMw(
const
vpColVector
& q,
vpHomogeneousMatrix
& fMw);
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void
get_wMe(
vpHomogeneousMatrix
& wMe);
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void
get_eMc(
vpHomogeneousMatrix
& eMc);
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void
get_fMe(
const
vpColVector
& q,
vpHomogeneousMatrix
& fMe);
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void
get_fMc(
const
vpColVector
& q,
vpHomogeneousMatrix
& fMc);
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void
get_cMe(
vpHomogeneousMatrix
&cMe) ;
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void
get_cVe(
vpVelocityTwistMatrix
&cVe) ;
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void
get_fJw(
const
vpColVector
&q,
vpMatrix
&fJw) ;
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void
get_fJe(
const
vpColVector
&q,
vpMatrix
&fJe) ;
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void
get_eJe(
const
vpColVector
&q,
vpMatrix
&eJe) ;
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friend
VISP_EXPORT std::ostream & operator << (std::ostream & os,
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const
vpViper
& viper);
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vpColVector
getJointMin();
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vpColVector
getJointMax();
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double
getCoupl56();
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private
:
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bool
convertJointPositionInLimits(
unsigned
int
joint,
const
double
&q,
double
&q_mod);
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public
:
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static
const
unsigned
int
njoint
;
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protected
:
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vpHomogeneousMatrix
eMc
;
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// Minimal representation of eMc
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vpTranslationVector
etc
;
// meters
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vpRxyzVector
erc
;
// radian
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// Denavit-Hartenberg parameters
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double
a1,
d1
;
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double
a2
;
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double
a3
;
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double
d4
;
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double
d6
;
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double
c56
;
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// Software joint limits in radians
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vpColVector
joint_max
;
// Maximal value of the joints
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vpColVector
joint_min
;
// Minimal value of the joints
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};
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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
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src
robot
real-robot
viper
vpViper.h
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