35 #include <visp3/core/vpDebug.h>
36 #include <visp3/core/vpMath.h>
37 #include <visp3/robot/vpBiclops.h>
38 #include <visp3/robot/vpRobotException.h>
51 vpCDEBUG(6) <<
"camera position: " << std::endl << fMc;
61 vpCDEBUG(6) <<
"camera position: " << std::endl << fMc;
101 fMe[0][0] = -c1 * s2;
106 fMe[1][0] = -s1 * s2;
177 os <<
"Geometric parameters: " << std::endl
219 double s2 = sin(q[1]);
220 double c2 = cos(q[1]);
244 double s1 = sin(q[0]);
245 double c1 = cos(q[0]);
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
unsigned int getRows() const
Jacobian, geometric model functionalities... for Biclops, pan, tilt head.
vpHomogeneousMatrix m_cMe
Camera frame to PT end-effector frame transformation.
void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const
static const float speedLimit
Pan and tilt axis max velocity in rad/s to perform a displacement.
static const float tiltJointLimit
Tilt axis +/- joint limit in rad.
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
DenavitHartenbergModel m_dh_model
Denavit-Hartenberg model.
void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const
vpHomogeneousMatrix get_fMe(const vpColVector &q) const
static const float panJointLimit
Pan axis +/- joint limit in rad.
@ DH1
First Denavit-Hartenberg representation.
void get_cVe(vpVelocityTwistMatrix &cVe) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
static const unsigned int ndof
Number of dof.
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
@ dimensionError
Bad dimension.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Implementation of a matrix and operations on matrices.
Implementation of a pose vector and operations on poses.
vpPoseVector buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz)
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)