vpAfma4.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 Irisa's Afma4 robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef _vpAfma4_h
#define _vpAfma4_h

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/core/vpVelocityTwistMatrix.h>

class VISP_EXPORT vpAfma4
{
public:
  vpAfma4();
  virtual ~vpAfma4(){};

  void init(void);

  vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
  /*   int getInverseKinematics(const vpHomogeneousMatrix & fMc, */
  /*               vpColVector & q, const bool &nearest=true); */
  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
  void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;

  void get_cMe(vpHomogeneousMatrix &cMe) const;
  void get_cVe(vpVelocityTwistMatrix &cVe) const;
  void get_cVf(const vpColVector &q, vpVelocityTwistMatrix &cVf) const;
  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
  void get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) const;

  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpAfma4 &afma4);

  vpColVector getJointMin() const;
  vpColVector getJointMax() const;

public:
  static const unsigned int njoint; 

protected:
  // Denavit Hartenberg parameters
  double _a1;           // distance along x2
  double _d3;           // distance along z2
  double _d4;           // distance along z3
  double _joint_max[4]; // Maximal value of the joints
  double _joint_min[4]; // Minimal value of the joints

  // Minimal representation of _eMc
  vpTranslationVector _etc; // meters
  vpRxyzVector _erc;        // radian

  vpHomogeneousMatrix _eMc; // Camera extrinsic parameters: effector to camera
};

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */

#endif