Visual Servoing Platform  version 3.2.0 under development (2018-12-09)
vpPtu46 Class Reference

#include <visp3/robot/vpPtu46.h>

+ Inheritance diagram for vpPtu46:

Public Member Functions

 vpPtu46 (void)
 
virtual ~vpPtu46 ()
 
Inherited functionalities from vpPtu46
void init (void)
 
void computeMGD (const vpColVector &q, vpHomogeneousMatrix &fMc) const
 
vpHomogeneousMatrix computeMGD (const vpColVector &q) const
 
void computeMGD (const vpColVector &q, vpPoseVector &r) const
 
void get_cMe (vpHomogeneousMatrix &_cMe) const
 
void get_cVe (vpVelocityTwistMatrix &_cVe) const
 
void get_eJe (const vpColVector &q, vpMatrix &eJe) const
 
void get_fJe (const vpColVector &q, vpMatrix &fJe) const
 

Static Public Attributes

static const unsigned int ndof = 2
 
static const float L = 0.0765f
 
static const float h = 0.068f
 

Friends

VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpPtu46 &constant)
 

Detailed Description

Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception.

See http://www.DPerception.com for more details.

Definition at line 75 of file vpPtu46.h.

Constructor & Destructor Documentation

vpPtu46::vpPtu46 ( void  )

Default construtor. Call init().

Definition at line 157 of file vpPtu46.cpp.

References init().

virtual vpPtu46::~vpPtu46 ( )
inlinevirtual

Destructor that does nothing.

Definition at line 89 of file vpPtu46.h.

Member Function Documentation

void vpPtu46::computeMGD ( const vpColVector q,
vpHomogeneousMatrix fMc 
) const

Compute the direct geometric model of the camera: fMc

Parameters
q: Articular position for pan and tilt axis.
fMc: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 70 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), h, L, vpCDEBUG, and vpERROR_TRACE.

Referenced by computeMGD().

vpHomogeneousMatrix vpPtu46::computeMGD ( const vpColVector q) const

Return the direct geometric model of the camera: fMc

Parameters
q: Articular position for pan and tilt axis.
Returns
fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 120 of file vpPtu46.cpp.

References computeMGD().

void vpPtu46::computeMGD ( const vpColVector q,
vpPoseVector r 
) const

Compute the direct geometric model of the camera in terms of pose vector.

Parameters
q: Articular position for pan and tilt axis.
r: Pose vector corresponding to the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 138 of file vpPtu46.cpp.

References vpPoseVector::buildFrom(), computeMGD(), and vpHomogeneousMatrix::inverse().

void vpPtu46::get_cMe ( vpHomogeneousMatrix cMe) const

Get the homogeneous matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters
cMe: Homogeneous matrix between camera and end effector frame.

Definition at line 210 of file vpPtu46.cpp.

References h, vpHomogeneousMatrix::inverse(), and L.

Referenced by vpRobotPtu46::get_cMe(), get_cVe(), and vpRobotPtu46::get_cVe().

void vpPtu46::get_cVe ( vpVelocityTwistMatrix cVe) const

Get the twist matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters
cVe: Twist transformation between camera and end effector frame to expess a velocity skew from end effector frame in camera frame.

Definition at line 193 of file vpPtu46.cpp.

References vpVelocityTwistMatrix::buildFrom(), and get_cMe().

void vpPtu46::get_eJe ( const vpColVector q,
vpMatrix eJe 
) const

Get the robot jacobian expressed in the end-effector frame.

Warning
Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).
Parameters
q: Articular position for pan and tilt axis.
eJe: Jacobian between end effector frame and end effector frame (on tilt axis).

Definition at line 249 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpERROR_TRACE.

Referenced by vpRobotPtu46::get_eJe().

void vpPtu46::get_fJe ( const vpColVector q,
vpMatrix fJe 
) const

Get the robot jacobian expressed in the robot reference frame

Parameters
q: Articular position for pan and tilt axis.
fJe: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Definition at line 278 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpERROR_TRACE.

Referenced by vpRobotPtu46::get_fJe().

void vpPtu46::init ( void  )

Initialization. Here nothing to do.

Definition at line 166 of file vpPtu46.cpp.

Referenced by vpPtu46().

Friends And Related Function Documentation

VISP_EXPORT std::ostream& operator<< ( std::ostream &  os,
const vpPtu46 constant 
)
friend

Definition at line 172 of file vpPtu46.cpp.

Member Data Documentation

const float vpPtu46::h = 0.068f
static

Horizontal offset along the last joint, from last joint to camera frame.

Definition at line 84 of file vpPtu46.h.

Referenced by computeMGD(), and get_cMe().

const float vpPtu46::L = 0.0765f
static

Geometric model

Definition at line 83 of file vpPtu46.h.

Referenced by computeMGD(), and get_cMe().

const unsigned int vpPtu46::ndof = 2
static

Nombre d'articulations du robot. Number of dof

Definition at line 80 of file vpPtu46.h.

Referenced by vpRobotPtu46::getDisplacement(), vpRobotPtu46::getPosition(), vpRobotPtu46::getVelocity(), and vpRobotPtu46::readPositionFile().