Visual Servoing Platform version 3.5.0
vpPtu46.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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 the ptu-46 robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef _vpPtu46_h_
40#define _vpPtu46_h_
41
42/* ----------------------------------------------------------------------- */
43/* --- INCLUDES -------------------------------------------------------- */
44/* --------------------------------------------------------------------- */
45
46/* --- GENERAL --- */
47#include <iostream>
48
49/* --- ViSP --- */
50#include <visp3/core/vpConfig.h>
51#include <visp3/core/vpHomogeneousMatrix.h>
52#include <visp3/core/vpMatrix.h>
53#include <visp3/core/vpPoseVector.h>
54
55#include <visp3/core/vpMath.h>
56#include <visp3/core/vpRxyzVector.h>
57#include <visp3/core/vpTranslationVector.h>
58#include <visp3/core/vpVelocityTwistMatrix.h>
59
73class VISP_EXPORT vpPtu46
74{
75
76public: /* Constants */
78 static const unsigned int ndof;
81 static const float L;
82 static const float h;
83
84public: /* Methodes publiques */
85 vpPtu46(void);
87 virtual ~vpPtu46(){};
88
91 void init(void);
92
93 void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
94 vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
95 void computeMGD(const vpColVector &q, vpPoseVector &r) const;
96
97 void get_cMe(vpHomogeneousMatrix &_cMe) const;
98 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
99 void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
100 void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
101
103 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPtu46 &constant);
104};
105
106#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception.
Definition: vpPtu46.h:74
static const float L
Definition: vpPtu46.h:81
static const unsigned int ndof
Definition: vpPtu46.h:78
virtual ~vpPtu46()
Definition: vpPtu46.h:87
static const float h
Definition: vpPtu46.h:82