44 #include <visp3/core/vpDebug.h> 45 #include <visp3/core/vpMath.h> 46 #include <visp3/robot/vpBiclops.h> 47 #include <visp3/robot/vpRobotException.h> 80 vpCDEBUG(6) <<
"camera position: " << std::endl << fMc;
100 vpCDEBUG(6) <<
"camera position: " << std::endl << fMc;
175 fMe[0][0] = -c1 * s2;
180 fMe[1][0] = -s1 * s2;
295 os <<
"Geometric parameters: " << std::endl
369 double s2 = sin(q[1]);
370 double c2 = cos(q[1]);
403 double s1 = sin(q[0]);
404 double c1 = cos(q[0]);
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
Implementation of a matrix and operations on matrices.
static const unsigned int ndof
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const float tiltJointLimit
static const float speedLimit
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
void get_cVe(vpVelocityTwistMatrix &_cVe) const
error that can be emited by ViSP classes.
void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const
static const float panJointLimit
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
DenavitHartenbergModel dh_model_
unsigned int getRows() const
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpBiclops &constant)
Implementation of column vector and the associated operations.
Implementation of a pose vector and operations on poses.
vpHomogeneousMatrix inverse() const
vpHomogeneousMatrix get_fMe(const vpColVector &q) const
vpPoseVector buildFrom(const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)