vpRobotBiclops.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:
 * Interface for the Biclops robot.
 */
 
#ifndef _vpRobotBiclops_h_
#define _vpRobotBiclops_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_BICLOPS) && defined(VISP_HAVE_THREADS)
 
/* ------------------------------------------------------------------------ */
/* --- INCLUDES ----------------------------------------------------------- */
/* ------------------------------------------------------------------------ */
 
/* --- GENERAL --- */
#include <iostream>
#include <thread>
#include <stdio.h>
 
/* --- ViSP --- */
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
#include <visp3/robot/vpBiclops.h>
#include <visp3/robot/vpRobot.h>
 
/* ------------------------------------------------------------------------ */
/* --- CLASS -------------------------------------------------------------- */
/* ------------------------------------------------------------------------ */
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
{
public:
  static const double defaultPositioningVelocity;

  vpRobotBiclops();

  VP_EXPLICIT vpRobotBiclops(const std::string &filename);

  virtual ~vpRobotBiclops();

  void init() VP_OVERRIDE;

  void get_cMe(vpHomogeneousMatrix &cMe) const;

  void get_cVe(vpVelocityTwistMatrix &cVe) const;

  void get_eJe(vpMatrix &eJe) VP_OVERRIDE;

  void get_fJe(vpMatrix &fJe) VP_OVERRIDE;

  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &d) VP_OVERRIDE;

  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE;

  double getPositioningVelocity(void);

  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);

  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);

  bool readPositionFile(const std::string &filename, vpColVector &q);

  void setConfigFile(const std::string &filename = "/usr/share/BiclopsDefault.cfg");

  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) VP_OVERRIDE;

  void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);

  void setPosition(const std::string &filename);

  void setPositioningVelocity(double velocity);

  vpRobot::vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState) VP_OVERRIDE;

  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot) VP_OVERRIDE;

  void stopMotion();
 
  /*
   * Control loop to manage the Biclops joint limits in speed control.
   *
   * This control loop is running in a separate thread in order to detect each 5
   * ms joint limits during the speed control. If a joint limit is detected the
   * axis should be halted.
   *
   * \warning Velocity control mode is not exported from the top-level Biclops
   * API class provided by Traclabs. That means that there is no protection in
   * this mode to prevent an axis from striking its hard limit. In position mode,
   * Traclabs put soft limits in that keep any command from driving to a position
   * too close to the hard limits. In velocity mode this protection does not
   * exist in the current API.
   *
   * \warning With the understanding that hitting the hard limits at full
   * speed/power can damage the unit, damage due to velocity mode commanding is
   * under user responsibility.
   */
  static void vpRobotBiclopsSpeedControlLoop(void *arg);
 
private:
  std::thread m_control_thread;
 
  std::string m_configfile; // Biclops config file
 
  class vpRobotBiclopsController;
  vpRobotBiclopsController *m_controller;
 
  double m_positioningVelocity;
  vpColVector m_q_previous;
 
  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //  /*! \brief No copy constructor allowed.   */
  //  vpRobotBiclops(const vpRobotBiclops &)
  //    : vpBiclops(), vpRobot(), m_control_thread(), m_controller(),
  //      m_positioningVelocity(0), m_q_previous()
  //  {
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!");
  //  }
  //  vpRobotBiclops &operator=(const vpRobotBiclops &){
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!"); return *this;
  //  }
  //#endif
};
END_VISP_NAMESPACE
#endif /* #ifndef _vpRobotBiclops_h_ */
 
#endif