/*!
Set the velocity (frame has to be specified) that will be applied to the robot.
\param frame : Control frame. For the moment, only vpRobot::ARTICULAR_FRAME to control left
and right wheel velocities and vpRobot::REFERENCE_FRAME to control translational and
rotational velocities are implemented.
\param vel : A two dimension vector that corresponds to the velocities to apply to the robot.
- If the frame is vpRobot::ARTICULAR_FRAME, first value is the velocity of the left wheel and
second value is the velocity of the right wheel in m/s. In that case sets the velocity of the wheels
independently.
- If the frame is vpRobot::REFERENCE_FRAME, first value is the translation velocity in m/s.
Second value is the rotational velocity in rad/s.
Note that to secure the usage of the robot, velocities are saturated to the maximum allowed
which can be obtained by getMaxTranslationVelocity() and getMaxRotationVelocity(). To change
the default values, use setMaxTranslationVelocity() and setMaxRotationVelocity().
\exception vpRobotException::dimensionError : Velocity vector is not a 2 dimension vector.
\exception vpRobotException::wrongStateError : If the specified control frame is not supported.
*/
void vpRobotPioneer::setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
{
init();
/*
if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState ()) {
vpERROR_TRACE ("Cannot send a velocity to the robot "
"use setRobotState(vpRobot::STATE_VELOCITY_CONTROL) first) ");
throw vpRobotException (vpRobotException::wrongStateError,
"Cannot send a velocity to the robot "
"use setRobotState(vpRobot::STATE_VELOCITY_CONTROL) first) ");
} */
if (vel.size() != 2)
{
throw(vpRobotException(vpRobotException::dimensionError, "Velocity vector is not a 2 dimension vector"));
}
vpColVector vel_max(2);
vpColVector vel_sat;
if (frame == vpRobot::REFERENCE_FRAME)
{
vel_max[0] = getMaxTranslationVelocity();
vel_max[1] = getMaxRotationVelocity();
vel_sat = vpRobot::saturateVelocities(vel, vel_max, true);
this->lock();
this->setVel(vel_sat[0]*1000.); // convert velocity in mm/s
this->setRotVel( vpMath::deg(vel_sat[1]) ); // convert velocity in deg/s
this->unlock();
}
else if (frame == vpRobot::ARTICULAR_FRAME)
{
vel_max[0] = getMaxTranslationVelocity();
vel_max[1] = getMaxTranslationVelocity();
vel_sat = vpRobot::saturateVelocities(vel, vel_max, true);
this->lock();
//std::cout << "v: " << (vel*1000).t() << " mm/s" << std::endl;
this->setVel2(vel_sat[0]*1000., vel_sat[1]*1000.); // convert velocity in mm/s
this->unlock();
}
else
{
throw vpRobotException (vpRobotException::wrongStateError,
"Cannot send the robot velocity in the specified control frame");
}
}
/*!
Send to the controller a velocity.
\param frame : Control frame type. Only articular (vpRobot::ARTICULAR_FRAME)
and camera frame (vpRobot::CAMERA_FRAME) are implemented.
\param v : Velocity to apply to the robot.
- In the camera frame, this velocity is represented by a vector of dimension 6
\f$ {\bf v} = [{\bf t}, {\bf \theta u }]^t \f$ where \f$ \bf t \f$ is a
translation vector and \f$ {\bf \theta u} \f$ is a rotation vector (see
vpThetaUVector): \f$ {\bf v} = [t_x, t_y, t_z, {\theta u}_x, {\theta u}_y,
{\theta u}_z] \f$ (see vpTranslationVector and vpThetaUVector).
- In articular, this velocity is represented by a 6 dimension vector \f$
\dot{{\bf q}} = [{\bf t}, {\bf \theta u}]^t \f$ where \f$ \bf t \f$ is a
translation vector and \f$ {\bf \theta u} \f$ is a rotation vector (see
vpThetaUVector): \f$ \dot{{\bf q}} = [t_x, t_y, t_z, {\theta u}_x, {\theta
u}_y, {\theta u}_z] \f$ (see vpTranslationVector and vpThetaUVector). The
robot jacobian \f$ {^e}{\bf J}_e\f$ expressed in the end-effector frame is
here set to identity.
We use the exponential map (vpExponentialMap) to update the camera location.
Sampling time can be set using setSamplingTime().
\sa setSamplingTime()
*/
void
vpSimulatorCamera::setVelocity(const vpRobot::vpControlFrameType frame,
const vpColVector &v)
{
if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState ()) {
setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
}
switch (frame)
{
case vpRobot::ARTICULAR_FRAME:
case vpRobot::CAMERA_FRAME: {
vpColVector v_max(6);
for (unsigned int i=0; i<3; i++)
v_max[i] = getMaxTranslationVelocity();
for (unsigned int i=3; i<6; i++)
v_max[i] = getMaxRotationVelocity();
vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
wMc_ = wMc_ * vpExponentialMap::direct(v_sat, delta_t_);
setRobotFrame(frame);
break ;
}
case vpRobot::REFERENCE_FRAME:
vpERROR_TRACE ("Cannot set a velocity in the reference frame: "
"functionality not implemented");
throw vpRobotException (vpRobotException::wrongStateError,
"Cannot set a velocity in the reference frame:"
"functionality not implemented");
break ;
case vpRobot::MIXT_FRAME:
vpERROR_TRACE ("Cannot set a velocity in the mixt frame: "
"functionality not implemented");
throw vpRobotException (vpRobotException::wrongStateError,
"Cannot set a velocity in the mixt frame:"
"functionality not implemented");
break ;
}
}
/*!
Send to the controller a velocity.
\param frame : Control frame type. Only vpRobot::ARTICULAR_FRAME is implemented.
\param v : Velocity vector \f$(v_x, w_z)\f$ to apply to the robot.
Depending on the velocity specified as input, the robot position is updated
using the sampling time that can be modified using setSamplingTime().
\sa setSamplingTime()
*/
void
vpSimulatorPioneer::setVelocity(const vpRobot::vpControlFrameType frame,
const vpColVector &v)
{
switch (frame)
{
case vpRobot::ARTICULAR_FRAME: {
if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState ()) {
setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
}
setRobotFrame(frame);
// v is a 2 dimension vector that contains v,w
if (v.size() != 2) {
vpERROR_TRACE ("Bad dimension of the control vector");
throw vpRobotException (vpRobotException::dimensionError,
"Bad dimension of the control vector");
}
vpColVector v_max(2);
v_max[0] = getMaxTranslationVelocity();
v_max[1] = getMaxRotationVelocity();
vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
xm_ += delta_t_ * v_sat[0] * cos(theta_);
ym_ += delta_t_ * v_sat[0] * sin(theta_);
theta_ += delta_t_ * v_sat[1];
vpRotationMatrix wRe(0, 0, theta_);
vpTranslationVector wte(xm_, ym_, 0);
wMe_.buildFrom(wte, wRe);
wMc_ = wMe_ * cMe_.inverse();
break ;
}
break ;
case vpRobot::CAMERA_FRAME:
vpERROR_TRACE ("Cannot set a velocity in the camera frame: "
"functionality not implemented");
throw vpRobotException (vpRobotException::wrongStateError,
"Cannot set a velocity in the camera frame:"
"functionality not implemented");
break ;
case vpRobot::REFERENCE_FRAME:
vpERROR_TRACE ("Cannot set a velocity in the reference frame: "
"functionality not implemented");
throw vpRobotException (vpRobotException::wrongStateError,
"Cannot set a velocity in the articular frame:"
"functionality not implemented");
case vpRobot::MIXT_FRAME:
vpERROR_TRACE ("Cannot set a velocity in the mixt frame: "
"functionality not implemented");
throw vpRobotException (vpRobotException::wrongStateError,
"Cannot set a velocity in the mixt frame:"
"functionality not implemented");
break ;
}
}