Visual Servoing Platform version 3.6.0
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vpRobotFlirPtu.h
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 * Interface for Flir Ptu Cpi robot.
33 *
34*****************************************************************************/
35
36#ifndef vpRobotFlirPtu_h
37#define vpRobotFlirPtu_h
38
44#include <visp3/core/vpConfig.h>
45
46#ifdef VISP_HAVE_FLIR_PTU_SDK
47
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/robot/vpRobot.h>
50#include <visp3/robot/vpRobotException.h>
51
93class VISP_EXPORT vpRobotFlirPtu : public vpRobot
94{
95public:
97 virtual ~vpRobotFlirPtu();
98
99 void connect(const std::string &portname, int baudrate = 9600);
100 void disconnect();
101
102 void get_eJe(vpMatrix &eJe);
104 void get_fJe(vpMatrix &fJe);
106 vpMatrix get_fMe();
107
112 vpHomogeneousMatrix get_eMc() const { return m_eMc; }
113 vpVelocityTwistMatrix get_cVe() const;
114
116
117 std::string getNetworkIP();
118 std::string getNetworkGateway();
119 std::string getNetworkHostName();
120
122 vpColVector getPanPosLimits();
123 vpColVector getTiltPosLimits();
124 vpColVector getPanTiltVelMax();
125
126 void reset();
127
132 void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
133 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
134 void setPanPosLimits(const vpColVector &pan_limits);
135 void setTiltPosLimits(const vpColVector &tilt_limits);
136
137 void setPositioningVelocity(double velocity);
139 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
140 void stopMotion();
141
142 static void emergencyStop(int signo);
143
144protected:
145 void init();
146 void getLimits();
147 void getJointPosition(vpColVector &q);
148 void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
149 void setJointVelocity(const vpColVector &qdot);
150
151private:
152 double tics2deg(int axis, int tics);
153 double tics2rad(int axis, int tics);
154 int rad2tics(int axis, double rad);
155
156protected:
158
159 struct cerial *m_cer;
160 uint16_t m_status;
161 std::vector<int> m_pos_max_tics;
162 std::vector<int> m_pos_min_tics;
163 std::vector<int> m_vel_max_tics;
164 std::vector<double> m_res;
168};
169
170#endif
171#endif
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
std::vector< int > m_pos_max_tics
Pan min/max position in robot tics unit.
double m_positioning_velocity
std::vector< double > m_res
Pan/tilt tic resolution in deg.
void set_eMc(vpHomogeneousMatrix &eMc)
std::vector< int > m_vel_max_tics
Pan/tilt max velocity in robot tics unit.
struct cerial * m_cer
vpHomogeneousMatrix get_eMc() const
std::vector< int > m_pos_min_tics
Tilt min/max position in robot tics unit.
Class that defines a generic virtual robot.
Definition vpRobot.h:57
vpControlFrameType
Definition vpRobot.h:73
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
vpRobotStateType
Definition vpRobot.h:62
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.