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Visual Servoing Platform
version 3.3.0
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40 #ifndef vpRobotViper650_h
41 #define vpRobotViper650_h
43 #include <visp3/core/vpConfig.h>
45 #ifdef VISP_HAVE_VIPER650
50 #include <visp3/core/vpColVector.h>
51 #include <visp3/core/vpDebug.h>
52 #include <visp3/robot/vpRobot.h>
53 #include <visp3/robot/vpViper650.h>
57 #include "irisa_Viper650.h"
371 static bool robotAlreadyCreated;
373 double positioningVelocity;
378 double time_prev_getvel;
379 bool first_time_getvel;
384 bool first_time_getdis;
392 void biasForceTorqueSensor()
const;
394 void closeGripper()
const;
396 void disableJoint6Limits()
const;
397 void enableJoint6Limits()
const;
409 double getMaxRotationVelocityJoint6()
const;
416 double getPositioningVelocity(
void)
const;
417 bool getPowerState()
const;
419 double getTime()
const;
438 void move(
const std::string &filename);
445 static bool readPosFile(
const std::string &filename,
vpColVector &q);
446 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
452 void setMaxRotationVelocityJoint6(
double w6_max);
457 double pos4,
double pos5,
double pos6);
459 void setPositioningVelocity(
double velocity);
469 double maxRotationVelocity_joint6;
Modelisation of the ADEPT Viper 650 robot.
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
@ perspectiveProjWithoutDistortion
vpToolType
List of possible tools that can be attached to the robot end-effector.
Control of Irisa's Viper S650 robot named Viper650.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
Class that consider the case of a translation vector.
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
vpCameraParametersProjType
Implementation of column vector and the associated operations.
static const double defaultPositioningVelocity
Implementation of a matrix and operations on matrices.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
@ AUTO
Automatic control mode (default).
void get_cMe(vpHomogeneousMatrix &cMe) const
void setMaxRotationVelocity(double maxVr)
Implementation of a pose vector and operations on poses.
vpControlModeType getControlMode() const
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
Implementation of an homogeneous matrix and operations on such kind of matrices.
void get_cVe(vpVelocityTwistMatrix &cVe) const
Class that defines a generic virtual robot.
Implementation of a rotation vector as Euler angle minimal representation.