49 #include <visp/vpPtu46.h>
50 #include <visp/vpDebug.h>
51 #include <visp/vpRobotException.h>
56 #include <visp/vpMath.h>
101 fMc[0][3] = -
h*c1*s2 -
L*s1;
106 fMc[1][3] = -
h*s1*s2 +
L*c1;
118 vpCDEBUG (6) <<
"Position de la camera: " << std::endl << fMc;
203 <<
"Geometric parameters: " << std::endl
293 double s2 = sin(q[1]) ;
294 double c2 = cos(q[1]) ;
324 double s1 = sin(q[0]) ;
325 double c1 = cos(q[0]) ;
Definition of the vpMatrix class.
void resize(const unsigned int nrows, const unsigned int ncols, const bool nullify=true)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc)
vpPoseVector buildFrom(const vpHomogeneousMatrix &M)
void get_cMe(vpHomogeneousMatrix &_cMe)
static const unsigned int ndof
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpImagePoint &ip)
void get_cVe(vpVelocityTwistMatrix &_cVe)
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception...
Class that provides a data structure for the column vectors as well as a set of operations on these v...
The pose is a complete representation of every rigid motion in the euclidian space.
vpHomogeneousMatrix inverse() const
void get_fJe(const vpColVector &q, vpMatrix &fJe)
void get_eJe(const vpColVector &q, vpMatrix &eJe)
unsigned int getRows() const
Return the number of rows of the matrix.