vpBiclops.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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 Biclops robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef __vpBiclops_H
#define __vpBiclops_H

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

/* --- ViSP --- */
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpPoseVector.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>

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

class VISP_EXPORT vpBiclops
{
public:
  typedef enum {
    DH1, 
    DH2  
  } DenavitHartenbergModel;

public:                           /* Constants */
  static const unsigned int ndof; 
  /* Geometric model */
  static const float h;

  static const float panJointLimit;
  static const float tiltJointLimit;
  static const float speedLimit;

protected:
  DenavitHartenbergModel dh_model_;
  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame

public:
  vpBiclops(void);
  virtual ~vpBiclops(){};


  void init(void);

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

  vpHomogeneousMatrix get_cMe() const { return cMe_; }

  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
  void get_fMc(const vpColVector &q, vpPoseVector &fvc) const;
  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
  vpHomogeneousMatrix get_fMe(const vpColVector &q) const;

  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;

  inline vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const { return dh_model_; }

  void set_cMe();
  void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
  inline void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel m = vpBiclops::DH1) { dh_model_ = m; }

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

#endif