Visual Servoing Platform  version 3.0.0
vpPtu46.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Interface for the ptu-46 robot.
32  *
33  * Authors:
34  * Fabien Spindler
35  *
36  *****************************************************************************/
37 
38 #include <visp3/core/vpConfig.h>
39 
40 #ifndef __vpPtu46_H
41 #define __vpPtu46_H
42 
43 
44 /* ----------------------------------------------------------------------- */
45 /* --- INCLUDES -------------------------------------------------------- */
46 /* --------------------------------------------------------------------- */
47 
48 /* --- GENERAL --- */
49 #include <iostream>
50 
51 /* --- ViSP --- */
52 #include <visp3/core/vpConfig.h>
53 #include <visp3/core/vpMatrix.h>
54 #include <visp3/core/vpHomogeneousMatrix.h>
55 #include <visp3/core/vpPoseVector.h>
56 
57 #include <visp3/core/vpMath.h>
58 #include <visp3/core/vpRxyzVector.h>
59 #include <visp3/core/vpTranslationVector.h>
60 #include <visp3/core/vpVelocityTwistMatrix.h>
61 
76 class VISP_EXPORT vpPtu46
77 {
78 
79 public: /* Constants */
80 
82  static const unsigned int ndof;
85  static const float L;
86  static const float h;
87 
88 
89 public: /* Methodes publiques */
90 
91  vpPtu46 (void);
93  virtual ~vpPtu46() {};
94 
95  void init (void);
96 
97  void computeMGD (const vpColVector &q, vpHomogeneousMatrix & fMc) const;
98  vpHomogeneousMatrix computeMGD (const vpColVector & q) const;
99  void computeMGD (const vpColVector & q, vpPoseVector & r) const;
100 
101  void get_cMe(vpHomogeneousMatrix &_cMe) const;
102  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
103  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
104  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
105 
106  friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpPtu46 & constant);
107 };
108 
109 
110 
111 
112 /*
113  * Local variables:
114  * c-basic-offset: 2
115  * End:
116  */
117 
118 #endif
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:92
vpPtu46::L
static const float L
Definition: vpPtu46.h:85
vpPtu46::~vpPtu46
virtual ~vpPtu46()
Definition: vpPtu46.h:93
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:93
vpPtu46::ndof
static const unsigned int ndof
Definition: vpPtu46.h:82
vpPtu46::h
static const float h
Definition: vpPtu46.h:86
vpVelocityTwistMatrix
Implementation of a velocity twist matrix and operations on such kind of matrices.
Definition: vpVelocityTwistMatrix.h:105
vpPtu46
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception...
Definition: vpPtu46.h:76
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
vpPoseVector
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:93