ViSP  2.8.0
vpBiclops.h
1 /****************************************************************************
2  *
3  * $Id: vpBiclops.h 4056 2013-01-05 13:04:42Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Interface for the Biclops robot.
36  *
37  * Authors:
38  * Fabien Spindler
39  *
40  *****************************************************************************/
41 
42 #ifndef __vpBiclops_H
43 #define __vpBiclops_H
44 
45 /* ----------------------------------------------------------------------- */
46 /* --- INCLUDES -------------------------------------------------------- */
47 /* --------------------------------------------------------------------- */
48 
49 /* --- ViSP --- */
50 #include <visp/vpMatrix.h>
51 #include <visp/vpHomogeneousMatrix.h>
52 #include <visp/vpPoseVector.h>
53 #include <visp/vpMath.h>
54 #include <visp/vpRxyzVector.h>
55 #include <visp/vpTranslationVector.h>
56 #include <visp/vpVelocityTwistMatrix.h>
57 
58 /* --- GENERAL --- */
59 #include <iostream>
60 
78 class VISP_EXPORT vpBiclops
79 {
80 public:
119  typedef enum
120  {
121  DH1,
122  DH2
123  } DenavitHartenbergModel;
124 
125 public: /* Constants */
126 
127  static const unsigned int ndof;
129  /* Geometric model */
130  static const float h;
131 
132  static const float panJointLimit;
133  static const float tiltJointLimit;
134  static const float speedLimit;
135 
136 
137 protected:
139  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
140 
141 public:
142  vpBiclops (void);
143  void init (void);
144 
145  void computeMGD (const vpColVector &q, vpHomogeneousMatrix & fMc);
146 
147  vpHomogeneousMatrix computeMGD (const vpColVector & q);
148  void computeMGD (const vpColVector &q, vpPoseVector &fvc);
149 
155  {
156  return cMe_;
157  }
158 
159  void get_cVe(vpVelocityTwistMatrix &_cVe) ;
160  void get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc);
161  void get_fMc (const vpColVector &q, vpPoseVector &fvc);
162  vpHomogeneousMatrix get_fMc (const vpColVector &q);
163  vpHomogeneousMatrix get_fMe (const vpColVector &q);
164 
165  void get_eJe(const vpColVector &q, vpMatrix &eJe);
166  void get_fJe(const vpColVector &q, vpMatrix &fJe);
167 
173  {
174  return dh_model_;
175  }
176 
177  void set_cMe() ;
181  void set_cMe(const vpHomogeneousMatrix &cMe)
182  {
183  cMe_ = cMe;
184  }
191  {
192  dh_model_ = m;
193  }
194 
195  friend std::ostream & operator << (std::ostream & os,
196  const vpBiclops & constant);
197 };
198 
199 
200 #endif
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
Definition: vpBiclops.h:78
Definition of the vpMatrix class.
Definition: vpMatrix.h:96
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpBiclops.h:181
vpHomogeneousMatrix cMe_
Definition: vpBiclops.h:139
static const unsigned int ndof
Definition: vpBiclops.h:127
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
static const float tiltJointLimit
Definition: vpBiclops.h:133
static const float speedLimit
Definition: vpBiclops.h:134
static const float panJointLimit
Definition: vpBiclops.h:132
static const float h
Definition: vpBiclops.h:130
DenavitHartenbergModel
Definition: vpBiclops.h:119
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel m=vpBiclops::DH1)
Definition: vpBiclops.h:190
DenavitHartenbergModel dh_model_
Definition: vpBiclops.h:138
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel()
Definition: vpBiclops.h:172
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
The pose is a complete representation of every rigid motion in the euclidian space.
Definition: vpPoseVector.h:92
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:154