Visual Servoing Platform  version 3.4.0
vpPtu46.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 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 ptu-46 robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpPtu46_h_
40 #define _vpPtu46_h_
41 
42 /* ----------------------------------------------------------------------- */
43 /* --- INCLUDES -------------------------------------------------------- */
44 /* --------------------------------------------------------------------- */
45 
46 /* --- GENERAL --- */
47 #include <iostream>
48 
49 /* --- ViSP --- */
50 #include <visp3/core/vpConfig.h>
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpMatrix.h>
53 #include <visp3/core/vpPoseVector.h>
54 
55 #include <visp3/core/vpMath.h>
56 #include <visp3/core/vpRxyzVector.h>
57 #include <visp3/core/vpTranslationVector.h>
58 #include <visp3/core/vpVelocityTwistMatrix.h>
59 
73 class VISP_EXPORT vpPtu46
74 {
75 
76 public: /* Constants */
78  static const unsigned int ndof;
81  static const float L;
82  static const float h;
83 
84 public: /* Methodes publiques */
85  vpPtu46(void);
87  virtual ~vpPtu46(){};
88 
91  void init(void);
92 
93  void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
94  vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
95  void computeMGD(const vpColVector &q, vpPoseVector &r) const;
96 
97  void get_cMe(vpHomogeneousMatrix &_cMe) const;
98  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
99  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
100  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
101 
103  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPtu46 &constant);
104 };
105 
106 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
static const float L
Definition: vpPtu46.h:81
virtual ~vpPtu46()
Definition: vpPtu46.h:87
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const unsigned int ndof
Definition: vpPtu46.h:78
static const float h
Definition: vpPtu46.h:82
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception...
Definition: vpPtu46.h:73
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151