Visual Servoing Platform version 3.6.0
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vpRobotKinova.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 Kinova Jaco robot.
33 *
34*****************************************************************************/
35
36#ifndef vpRobotKinova_h
37#define vpRobotKinova_h
38
47#include <visp3/core/vpConfig.h>
48
49#ifdef VISP_HAVE_JACOSDK
50
51#include <KinovaTypes.h>
52
53#ifdef __linux__
54#include <Kinova.API.CommLayerUbuntu.h>
55#include <Kinova.API.UsbCommandLayerUbuntu.h>
56#include <dlfcn.h>
57#include <stdio.h>
58#include <unistd.h>
59#include <vector>
60#elif _WIN32
61#include <CommandLayer.h>
62#include <CommunicationLayer.h>
63#include <Windows.h>
64#include <conio.h>
65#include <iostream>
66#endif
67
68#include <visp3/core/vpHomogeneousMatrix.h>
69#include <visp3/robot/vpRobot.h>
70
88class VISP_EXPORT vpRobotKinova : public vpRobot
89{
90public:
91 typedef enum { CMD_LAYER_USB, CMD_LAYER_ETHERNET, CMD_LAYER_UNSET } CommandLayer;
92
94 virtual ~vpRobotKinova();
95
96 int connect();
97
98 void get_eJe(vpMatrix &eJe);
99 void get_fJe(vpMatrix &fJe);
100
105 vpHomogeneousMatrix get_eMc() const { return m_eMc; }
106
107 int getActiveDevice() const { return m_active_device; }
108 int getNumDevices() const { return m_devices_count; }
110 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
112
113 void homing();
114
119 void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
120 void setActiveDevice(int device);
125 void setCommandLayer(CommandLayer command_layer) { m_command_layer = command_layer; }
126 void setDoF(unsigned int dof);
127 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
134 void setPluginLocation(const std::string &plugin_location) { m_plugin_location = plugin_location; }
135 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
141 void setVerbose(bool verbose) { m_verbose = verbose; }
142
143protected:
144 void closePlugin();
145 void getJointPosition(vpColVector &q);
146 void init();
147 void loadPlugin();
148 void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
149 void setJointVelocity(const vpColVector &qdot);
150
151protected:
153 std::string m_plugin_location;
157 KinovaDevice *m_devices_list;
160
161#ifdef __linux__
162 void *m_command_layer_handle;
163#elif _WIN32
164 HINSTANCE m_command_layer_handle;
165#endif
166
167private:
168 int (*KinovaCloseAPI)();
169 int (*KinovaGetAngularCommand)(AngularPosition &);
170 int (*KinovaGetCartesianCommand)(CartesianPosition &);
171 int (*KinovaGetDevices)(KinovaDevice devices[MAX_KINOVA_DEVICE], int &result);
172 int (*KinovaInitFingers)();
173 int (*KinovaInitAPI)();
174 int (*KinovaMoveHome)();
175 int (*KinovaSendBasicTrajectory)(TrajectoryPoint command);
176 int (*KinovaSetActiveDevice)(KinovaDevice device);
177 int (*KinovaSetAngularControl)();
178 int (*KinovaSetCartesianControl)();
179};
180
181#endif
182#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
Implementation of a pose vector and operations on poses.
void set_eMc(vpHomogeneousMatrix &eMc)
void setCommandLayer(CommandLayer command_layer)
KinovaDevice * m_devices_list
int getNumDevices() const
std::string m_plugin_location
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
CommandLayer m_command_layer
vpHomogeneousMatrix get_eMc() const
void setVerbose(bool verbose)
void setPluginLocation(const std::string &plugin_location)
int getActiveDevice() const
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).
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.