Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpBiclops.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 the Biclops robot.
33 *
34*****************************************************************************/
35
36#ifndef _vpBiclops_h_
37#define _vpBiclops_h_
38
39/* ----------------------------------------------------------------------- */
40/* --- INCLUDES -------------------------------------------------------- */
41/* --------------------------------------------------------------------- */
42
43/* --- ViSP --- */
44#include <visp3/core/vpHomogeneousMatrix.h>
45#include <visp3/core/vpMath.h>
46#include <visp3/core/vpMatrix.h>
47#include <visp3/core/vpPoseVector.h>
48#include <visp3/core/vpRxyzVector.h>
49#include <visp3/core/vpTranslationVector.h>
50#include <visp3/core/vpVelocityTwistMatrix.h>
51
52/* --- GENERAL --- */
53#include <iostream>
54
74class VISP_EXPORT vpBiclops
75{
76public:
117 typedef enum {
119 DH2
120 } DenavitHartenbergModel;
121
122public: /* Constants */
123 static const unsigned int ndof;
125 /* Geometric model */
126 static const float h;
127
128 static const float panJointLimit;
129 static const float tiltJointLimit;
130 static const float speedLimit;
131
132protected:
134 vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
135
136public:
137 vpBiclops(void);
139 virtual ~vpBiclops(){};
140
143
144 void init(void);
145
146 void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
147 vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
148 void computeMGD(const vpColVector &q, vpPoseVector &fvc) const;
149
154 vpHomogeneousMatrix get_cMe() const { return cMe_; }
155
156 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
157 void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
158 void get_fMc(const vpColVector &q, vpPoseVector &fvc) const;
159 vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
160 vpHomogeneousMatrix get_fMe(const vpColVector &q) const;
161
162 void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
163 void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
164
170
171 void set_cMe();
176 void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
183
185 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpBiclops &constant);
186};
187
188#endif
Jacobian, geometric model functionalities... for biclops, pan, tilt head.
Definition vpBiclops.h:75
vpHomogeneousMatrix cMe_
Definition vpBiclops.h:134
static const float h
Definition vpBiclops.h:126
static const float speedLimit
Definition vpBiclops.h:130
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel m=vpBiclops::DH1)
Definition vpBiclops.h:182
static const float tiltJointLimit
Definition vpBiclops.h:129
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition vpBiclops.h:176
vpHomogeneousMatrix get_cMe() const
Definition vpBiclops.h:154
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
Definition vpBiclops.h:169
virtual ~vpBiclops()
Definition vpBiclops.h:139
static const float panJointLimit
Definition vpBiclops.h:128
DenavitHartenbergModel
Definition vpBiclops.h:117
DenavitHartenbergModel dh_model_
Definition vpBiclops.h:133
static const unsigned int ndof
Definition vpBiclops.h:123
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.