#include <vpPtu46.h>

Inheritance diagram for vpPtu46:

Public Member Functions
	vpPtu46 (void)

virtual	~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 80 of file vpPtu46.h.

Constructor & Destructor Documentation

vpPtu46::vpPtu46 ( void )

Default construtor. Call init().

Definition at line 170 of file vpPtu46.cpp.

References init().

virtual vpPtu46::~vpPtu46 ( )

inlinevirtual

Destructor that does nothing.

Definition at line 97 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 79 of file vpPtu46.cpp.

References vpException::dimensionError, vpMatrix::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 130 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 149 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 236 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