50 #include <visp3/core/vpCameraParameters.h> 51 #include <visp3/core/vpHomogeneousMatrix.h> 52 #include <visp3/core/vpImage.h> 53 #include <visp3/core/vpRGBa.h> 54 #include <visp3/core/vpVelocityTwistMatrix.h> 55 #include <visp3/robot/vpRobotException.h> 123 const bool &verbose =
false)
const;
144 double getCoupl56()
const;
147 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpViper &viper);
150 bool convertJointPositionInLimits(
unsigned int joint,
const double &q,
double &q_mod,
151 const bool &verbose =
false)
const;
Implementation of a matrix and operations on matrices.
double d7
for force/torque location
vpHomogeneousMatrix eMc
End effector to camera transformation.
Modelisation of the ADEPT Viper robot.
Implementation of an homogeneous matrix and operations on such kind of matrices.
double c56
Mechanical coupling between joint 5 and joint 6.
Implementation of column vector and the associated operations.
Implementation of a rotation vector as Euler angle minimal representation.
Class that consider the case of a translation vector.
static const unsigned int njoint
Number of joint.