Visual Servoing Platform  version 3.0.1
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
vpBiclops.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 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 Biclops robot.
32  *
33  * Authors:
34  * Fabien Spindler
35  *
36  *****************************************************************************/
37 
38 #ifndef __vpBiclops_H
39 #define __vpBiclops_H
40 
41 /* ----------------------------------------------------------------------- */
42 /* --- INCLUDES -------------------------------------------------------- */
43 /* --------------------------------------------------------------------- */
44 
45 /* --- ViSP --- */
46 #include <visp3/core/vpMatrix.h>
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpPoseVector.h>
49 #include <visp3/core/vpMath.h>
50 #include <visp3/core/vpRxyzVector.h>
51 #include <visp3/core/vpTranslationVector.h>
52 #include <visp3/core/vpVelocityTwistMatrix.h>
53 
54 /* --- GENERAL --- */
55 #include <iostream>
56 
74 class VISP_EXPORT vpBiclops
75 {
76 public:
115  typedef enum
116  {
117  DH1,
118  DH2
119  } DenavitHartenbergModel;
120 
121 public: /* Constants */
122 
123  static const unsigned int ndof;
125  /* Geometric model */
126  static const float h;
127 
128  static const float panJointLimit;
129  static const float tiltJointLimit;
130  static const float speedLimit;
131 
132 
133 protected:
135  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
136 
137 public:
138  vpBiclops (void);
140  virtual ~vpBiclops() {};
141 
144 
145  void init (void);
146 
147  void computeMGD (const vpColVector &q, vpHomogeneousMatrix & fMc) const;
148  vpHomogeneousMatrix computeMGD (const vpColVector & q) const;
149  void computeMGD (const vpColVector &q, vpPoseVector &fvc) const;
150 
156  {
157  return cMe_;
158  }
159 
160  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
161  void get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc) const;
162  void get_fMc (const vpColVector &q, vpPoseVector &fvc) const;
163  vpHomogeneousMatrix get_fMc (const vpColVector &q) const;
164  vpHomogeneousMatrix get_fMe (const vpColVector &q) const;
165 
166  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
167  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
168 
174  {
175  return dh_model_;
176  }
177 
178  void set_cMe() ;
182  void set_cMe(const vpHomogeneousMatrix &cMe)
183  {
184  cMe_ = cMe;
185  }
192  {
193  dh_model_ = m;
194  }
195 
197  friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpBiclops & constant);
198 };
199 
200 
201 #endif
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
Definition: vpBiclops.h:74
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:97
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpBiclops.h:182
vpHomogeneousMatrix cMe_
Definition: vpBiclops.h:135
static const unsigned int ndof
Definition: vpBiclops.h:123
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const float tiltJointLimit
Definition: vpBiclops.h:129
static const float speedLimit
Definition: vpBiclops.h:130
virtual ~vpBiclops()
Definition: vpBiclops.h:140
static const float panJointLimit
Definition: vpBiclops.h:128
static const float h
Definition: vpBiclops.h:126
DenavitHartenbergModel
Definition: vpBiclops.h:115
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel m=vpBiclops::DH1)
Definition: vpBiclops.h:191
DenavitHartenbergModel dh_model_
Definition: vpBiclops.h:134
Implementation of a velocity twist matrix and operations on such kind of matrices.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:93
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:155
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
Definition: vpBiclops.h:173