ViSP  2.9.0
vpAfma4.h
1 /****************************************************************************
2  *
3  * $Id: vpAfma4.h 4632 2014-02-03 17:06:40Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2014 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 Irisa's Afma4 robot.
36  *
37  * Authors:
38  * Fabien Spindler
39  *
40  *****************************************************************************/
41 
42 #ifndef __vpAfma4_h
43 #define __vpAfma4_h
44 
105 #include <visp/vpHomogeneousMatrix.h>
106 #include <visp/vpImage.h>
107 #include <visp/vpRGBa.h>
108 #include <visp/vpCameraParameters.h>
109 #include <visp/vpVelocityTwistMatrix.h>
110 
111 
112 class VISP_EXPORT vpAfma4
113 {
114  public:
115  vpAfma4();
117  virtual ~vpAfma4() {};
118 
119  void init (void);
120 
121  vpHomogeneousMatrix getForwardKinematics(const vpColVector & q) const;
122 /* int getInverseKinematics(const vpHomogeneousMatrix & fMc, */
123 /* vpColVector & q, const bool &nearest=true); */
124  vpHomogeneousMatrix get_fMc (const vpColVector & q) const;
125  void get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe) const;
126  void get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc) const;
127 
128  void get_cMe(vpHomogeneousMatrix &cMe) const;
129  void get_cVe(vpVelocityTwistMatrix &cVe) const;
130  void get_cVf(const vpColVector & q, vpVelocityTwistMatrix &cVf) const;
131  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
132  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
133  void get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) const;
134 
135  friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpAfma4 & afma4);
136 
137  vpColVector getJointMin() const;
138  vpColVector getJointMax() const;
139 
140  public:
141 
142  static const unsigned int njoint;
143 
144  protected:
145  // Denavit Hartenberg parameters
146  double _a1; // distance along x2
147  double _d3; // distance along z2
148  double _d4; // distance along z3
149  double _joint_max[4]; // Maximal value of the joints
150  double _joint_min[4]; // Minimal value of the joints
151 
152  // Minimal representation of _eMc
154  vpRxyzVector _erc; // radian
155 
156  vpHomogeneousMatrix _eMc; // Camera extrinsic parameters: effector to camera
157 };
158 
159 /*
160  * Local variables:
161  * c-basic-offset: 2
162  * End:
163  */
164 
165 #endif
166 
Definition of the vpMatrix class.
Definition: vpMatrix.h:98
double _a1
Definition: vpAfma4.h:146
virtual ~vpAfma4()
Definition: vpAfma4.h:117
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
vpHomogeneousMatrix _eMc
Definition: vpAfma4.h:156
double _d4
Definition: vpAfma4.h:148
vpTranslationVector _etc
Definition: vpAfma4.h:153
static const unsigned int njoint
Number of joint.
Definition: vpAfma4.h:142
Modelisation of Irisa's cylindrical robot named Afma4.
Definition: vpAfma4.h:112
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
vpRxyzVector _erc
Definition: vpAfma4.h:154
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
Definition: vpRxyzVector.h:152
double _d3
Definition: vpAfma4.h:147
Class that consider the case of a translation vector.