Visual Servoing Platform  version 3.1.0
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 modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Biclops robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef __vpBiclops_H
40 #define __vpBiclops_H
41 
42 /* ----------------------------------------------------------------------- */
43 /* --- INCLUDES -------------------------------------------------------- */
44 /* --------------------------------------------------------------------- */
45 
46 /* --- ViSP --- */
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpMath.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/core/vpPoseVector.h>
51 #include <visp3/core/vpRxyzVector.h>
52 #include <visp3/core/vpTranslationVector.h>
53 #include <visp3/core/vpVelocityTwistMatrix.h>
54 
55 /* --- GENERAL --- */
56 #include <iostream>
57 
77 class VISP_EXPORT vpBiclops
78 {
79 public:
120  typedef enum {
121  DH1,
122  DH2
124 
125 public: /* Constants */
126  static const unsigned int ndof;
128  /* Geometric model */
129  static const float h;
130 
131  static const float panJointLimit;
132  static const float tiltJointLimit;
133  static const float speedLimit;
134 
135 protected:
136  DenavitHartenbergModel dh_model_;
137  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
138 
139 public:
140  vpBiclops(void);
142  virtual ~vpBiclops(){};
143 
146 
147  void init(void);
148 
149  void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
150  vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
151  void computeMGD(const vpColVector &q, vpPoseVector &fvc) const;
152 
157  vpHomogeneousMatrix get_cMe() const { return cMe_; }
158 
159  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
160  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
161  void get_fMc(const vpColVector &q, vpPoseVector &fvc) const;
162  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
163  vpHomogeneousMatrix get_fMe(const vpColVector &q) const;
164 
165  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
166  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
167 
173 
174  void set_cMe();
179  void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
186 
188  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpBiclops &constant);
189 };
190 
191 #endif
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
Definition: vpBiclops.h:77
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:157
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpBiclops.h:179
vpHomogeneousMatrix cMe_
Definition: vpBiclops.h:137
static const unsigned int ndof
Definition: vpBiclops.h:126
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const float tiltJointLimit
Definition: vpBiclops.h:132
static const float speedLimit
Definition: vpBiclops.h:133
virtual ~vpBiclops()
Definition: vpBiclops.h:142
static const float panJointLimit
Definition: vpBiclops.h:131
static const float h
Definition: vpBiclops.h:129
DenavitHartenbergModel
Definition: vpBiclops.h:120
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel m=vpBiclops::DH1)
Definition: vpBiclops.h:185
DenavitHartenbergModel dh_model_
Definition: vpBiclops.h:136
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
Definition: vpBiclops.h:172
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:92