vpRobot.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Generic virtual robot.
 */

 
#ifndef vpRobot_H
#define vpRobot_H
 
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpPoseVector.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpRobot
{
public:
  typedef enum
  {
    STATE_STOP,                 
    STATE_VELOCITY_CONTROL,     
    STATE_POSITION_CONTROL,     
    STATE_ACCELERATION_CONTROL, 
    STATE_FORCE_TORQUE_CONTROL  
  } vpRobotStateType;

  typedef enum
  {
    REFERENCE_FRAME,               
    ARTICULAR_FRAME,               
    JOINT_STATE = ARTICULAR_FRAME, 
    END_EFFECTOR_FRAME,            
    CAMERA_FRAME,                  
    TOOL_FRAME = CAMERA_FRAME,     
    MIXT_FRAME                     
  } vpControlFrameType;
 
private: /* Membres privees */
  vpRobot::vpRobotStateType stateRobot;
  vpRobot::vpControlFrameType frameRobot;
 
protected:
  double maxTranslationVelocity;
  static const double maxTranslationVelocityDefault; // = 0.2;
  double maxRotationVelocity;
  static const double maxRotationVelocityDefault; // = 0.7;

  int nDof;
  vpMatrix eJe;
  int eJeAvailable;
  vpMatrix fJe;
  int fJeAvailable;
 
  int areJointLimitsAvailable;
  double *qmin;
  double *qmax;
 
  bool verbose_;
 
public:
  vpRobot(void);
  vpRobot(const vpRobot &robot);
  virtual ~vpRobot();

 
  //---------- Jacobian -----------------------------
  virtual void get_eJe(vpMatrix &_eJe) = 0;
  virtual void get_fJe(vpMatrix &_fJe) = 0;

  virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) = 0;
 
  double getMaxTranslationVelocity(void) const;
  double getMaxRotationVelocity(void) const;

  int getNDof() const
  {
    return nDof;
  }

  virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position) = 0;
 
  // Return the robot position (frame has to be specified).
  vpColVector getPosition(const vpRobot::vpControlFrameType frame);
  virtual vpRobotStateType getRobotState(void) const { return stateRobot; }
 
  virtual void init() = 0;
 
  vpRobot &operator=(const vpRobot &robot);
 
  void setMaxRotationVelocity(double maxVr);
  void setMaxTranslationVelocity(double maxVt);
  virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) = 0;
  virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState);

  virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) = 0;
  inline void setVerbose(bool verbose) { verbose_ = verbose; }


  static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose = false);
 
protected:
  vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame);
  vpControlFrameType getRobotFrame(void) const { return frameRobot; }
};
END_VISP_NAMESPACE
#endif