vpPtu46.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Interface for the ptu-46 robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>

#ifndef __vpPtu46_H
#define __vpPtu46_H


/* ----------------------------------------------------------------------- */
/* --- INCLUDES -------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* --- GENERAL --- */
#include <iostream>

/* --- ViSP --- */
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpPoseVector.h>

#include <visp3/core/vpMath.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>

class VISP_EXPORT vpPtu46
{

public: /* Constants */

  static const unsigned int   ndof;  
  static const float L;
  static const float h;


public: /* Methodes publiques */

  vpPtu46 (void);
  virtual ~vpPtu46() {};

  void init (void);

  void  computeMGD (const vpColVector &q, vpHomogeneousMatrix & fMc) const;
  vpHomogeneousMatrix computeMGD (const vpColVector & q) const;
  void  computeMGD (const vpColVector & q,  vpPoseVector & r) const;

  void get_cMe(vpHomogeneousMatrix &_cMe) const;
  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;

  friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpPtu46 & constant);
};

#endif