vpRobotPololuPtu.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:
 * Common features for Pololu Maestro PanTiltUnit.
 */
 
#ifndef _vpRobotPololuPtu_h_
#define _vpRobotPololuPtu_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_POLOLU) && defined(VISP_HAVE_THREADS)
 
#include <visp3/robot/vpRobot.h>
#include <visp3/robot/vpPololu.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpRobotPololuPtu : public vpRobot
{
public:
  vpRobotPololuPtu(const std::string &device = "/dev/ttyACM0", int baudrate = 9600, bool verbose = false);

  ~vpRobotPololuPtu() VP_OVERRIDE;

  void get_eJe(vpMatrix &eJe) VP_OVERRIDE;

  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;

  void get_fJe(vpMatrix &fJe) VP_OVERRIDE;

  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;

  float getAngularVelocityResolution() const;

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

  float getPositioningVelocityPercentage() const
  {
    return m_positioning_velocity_percentage;
  }

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

  void setPositioningVelocityPercentage(float positioning_velocity_percentage)
  {
    m_positioning_velocity_percentage = positioning_velocity_percentage;
  }

  void setVerbose(bool verbose)
  {
    m_verbose = verbose;
  }

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

  void stopVelocity();

  vpRobot::vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState) VP_OVERRIDE;
 
private:
  void init() VP_OVERRIDE { }

  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &d) VP_OVERRIDE
  {
    (void)frame;
    (void)d;
  };
 
  vpPololu m_pan;
  vpPololu m_tilt;
  float m_positioning_velocity_percentage;
 
  bool m_verbose;
};
END_VISP_NAMESPACE
#endif
#endif