#include <vpBiclops.h>

Inheritance diagram for vpBiclops:

Public Types
enum	DenavitHartenbergModel { DH1, DH2 }

Public Member Functions
	vpBiclops (void)

void	init (void)

void	computeMGD (const vpColVector &q, vpHomogeneousMatrix &fMc)

vpHomogeneousMatrix	computeMGD (const vpColVector &q)

void	computeMGD (const vpColVector &q, vpPoseVector &fvc)

vpHomogeneousMatrix	get_cMe () const

void	get_cVe (vpVelocityTwistMatrix &_cVe)

void	get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc)

void	get_fMc (const vpColVector &q, vpPoseVector &fvc)

vpHomogeneousMatrix	get_fMc (const vpColVector &q)

vpHomogeneousMatrix	get_fMe (const vpColVector &q)

void	get_eJe (const vpColVector &q, vpMatrix &eJe)

void	get_fJe (const vpColVector &q, vpMatrix &fJe)

vpBiclops::DenavitHartenbergModel	getDenavitHartenbergModel ()

void	set_cMe ()

void	set_cMe (const vpHomogeneousMatrix &cMe)

void	setDenavitHartenbergModel (vpBiclops::DenavitHartenbergModel m=vpBiclops::DH1)

Static Public Attributes
static const unsigned int	ndof = 2

static const float	h = 0.048f

static const float	panJointLimit = (float)(M_PI)

static const float	tiltJointLimit = (float)(M_PI/4.5)

static const float	speedLimit = (float)(M_PI/3.0)

Protected Attributes
DenavitHartenbergModel	dh_model_

vpHomogeneousMatrix	cMe_

Friends
std::ostream &	operator<< (std::ostream &os, const vpBiclops &constant)

Detailed Description

Jacobian, geometric model functionnalities... for biclops, pan, tilt head.

Two different Denavit Hartenberg representations of the robot are implemented. As mentionned in vpBiclops::DenavitHartenbergModel they differ in the orientation of the tilt axis. Use setDenavitHartenbergModel() to select the representation.

See http://www.traclabs.com/tracbiclops.htm for more details concerning the hardware.

Definition at line 78 of file vpBiclops.h.

Member Enumeration Documentation

enum vpBiclops::DenavitHartenbergModel

Two different Denavit Hartenberg representations of the robot are implemented. They differ in the orientation of the tilt axis.

The first representation, vpBiclops::DH1 is given by:

$\begin{tabular}{|c|c|c|c|c|} \hline Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\ \hline 1 & 0 & 0 & $-\pi/2$ & $q_1^*$ \\ 2 & 0 & 0 & $ \pi/2$ & $q_2^* + \pi/2$ \\ \hline \end{tabular}$

The second one, vpBiclops::DH2 is given by:

$\begin{tabular}{|c|c|c|c|c|} \hline Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\ \hline 1 & 0 & 0 & $ \pi/2$ & $q_1^*$ \\ 2 & 0 & 0 & $ -\pi/2$ & $q_2^* - \pi/2$ \\ \hline \end{tabular}$

where $q_1^*, q_2^*$ are respectively the pan and tilt joint positions.

In those representations, the pan is oriented from left to right, while the tilt is oriented

in vpBiclops::DH1 from down to top,
in vpBiclops::DH2 from top to down.

Enumerator
DH1	First Denavit Hartenberg representation.
DH2	Second Denavit Hartenberg representation.

Definition at line 119 of file vpBiclops.h.

Constructor & Destructor Documentation

vpBiclops::vpBiclops ( void )

Default construtor. Call init().

Definition at line 287 of file vpBiclops.cpp.

References init().

Member Function Documentation

void vpBiclops::computeMGD	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc
	)

Compute the direct geometric model of the camera: fMc

Warning: Provided for compatibilty with previous versions. Use rather get_fMc(const vpColVector &, vpHomogeneousMatrix &).

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.

See also: get_fMc(const vpColVector &, vpHomogeneousMatrix &)

Definition at line 80 of file vpBiclops.cpp.

References cMe_, get_fMe(), vpHomogeneousMatrix::inverse(), and vpCDEBUG.

Referenced by computeMGD().

vpHomogeneousMatrix vpBiclops::computeMGD ( const vpColVector & q )

Return the direct geometric model of the camera: fMc

Warning: Provided for compatibilty with previous versions. Use rather get_fMc(const vpColVector &).

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.

See also: get_fMc(const vpColVector &)

Definition at line 126 of file vpBiclops.cpp.

References computeMGD().

void vpBiclops::computeMGD	(	const vpColVector &	q,
		vpPoseVector &	fvc
	)

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

Warning: Provided for compatibilty with previous versions. Use rather get_fMc(const vpColVector &, vpPoseVector &).

Parameters

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

See also: get_fMc(const vpColVector &, vpPoseVector &)

Definition at line 246 of file vpBiclops.cpp.

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

vpHomogeneousMatrix vpBiclops::get_cMe ( ) const

inline

Return the tranformation ${^c}{\bf M}_e$ between the camera frame and the end effector frame.

Definition at line 154 of file vpBiclops.h.

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

void vpBiclops::get_cVe ( vpVelocityTwistMatrix & cVe )

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 336 of file vpBiclops.cpp.

References vpVelocityTwistMatrix::buildFrom(), and cMe_.

void vpBiclops::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe
	)

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 389 of file vpBiclops.cpp.

References DH1, dh_model_, vpException::dimensionError, vpMatrix::getRows(), vpMatrix::resize(), and vpERROR_TRACE.

Referenced by vpRobotBiclops::get_eJe().

void vpBiclops::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe
	)

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 431 of file vpBiclops.cpp.

References DH1, dh_model_, vpException::dimensionError, vpMatrix::getRows(), vpMatrix::resize(), and vpERROR_TRACE.

Referenced by vpRobotBiclops::get_fJe().

void vpBiclops::get_fMc	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc
	)

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 101 of file vpBiclops.cpp.

References cMe_, get_fMe(), vpHomogeneousMatrix::inverse(), and vpCDEBUG.

Referenced by computeMGD(), get_fMc(), and vpRobotBiclops::getDisplacement().

void vpBiclops::get_fMc	(	const vpColVector &	q,
		vpPoseVector &	fvc
	)

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

Parameters

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

Definition at line 267 of file vpBiclops.cpp.

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

vpHomogeneousMatrix vpBiclops::get_fMc ( const vpColVector & q )

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. Discribes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 146 of file vpBiclops.cpp.

References get_fMc().

vpHomogeneousMatrix vpBiclops::get_fMe ( const vpColVector & q )

Return the direct geometric model of the end effector: fMe

Parameters

q	: Articular position for pan and tilt axis.

Returns: fMe, the homogeneous matrix corresponding to the direct geometric model of the end effector. Describes the transformation between the robot reference frame (called fixed) and the end effector frame.

Definition at line 166 of file vpBiclops.cpp.

References DH1, dh_model_, vpException::dimensionError, vpMatrix::getRows(), and vpERROR_TRACE.

Referenced by computeMGD(), and get_fMc().

vpBiclops::DenavitHartenbergModel vpBiclops::getDenavitHartenbergModel ( )

inline

Return the Denavit Hartenberg representation used to model the head.

See also: vpBiclops::DenavitHartenbergModel

Definition at line 172 of file vpBiclops.h.

void vpBiclops::init ( void )

Initialization. Set the default ${^c}{\bf M}_e$ transformation.

Definition at line 301 of file vpBiclops.cpp.

References set_cMe().

Referenced by vpBiclops().

void vpBiclops::set_cMe ( )

Set the default 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.

Definition at line 349 of file vpBiclops.cpp.

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

Referenced by init().

void vpBiclops::set_cMe ( const vpHomogeneousMatrix & cMe )

inline

Set the transformation between the camera frame and the end effector frame.

Definition at line 181 of file vpBiclops.h.

void vpBiclops::setDenavitHartenbergModel ( vpBiclops::DenavitHartenbergModel m = vpBiclops::DH1 )

inline

Set the Denavit Hartenberg representation used to model the head.