#include <visp3/robot/vpBiclops.h>

Inheritance diagram for vpBiclops:

Public Types
enum	DenavitHartenbergModel { DH1 , DH2 }

Public Member Functions
	vpBiclops (void)

virtual	~vpBiclops ()

Static Public Attributes
static const unsigned int	ndof = 2

static const float	h = 0.048f

static const float	panJointLimit = (float)(M_PI)

static const float	tiltJointLimit = (float)(M_PI / 4.5)

static const float	speedLimit = (float)(M_PI / 3.0)

Protected Attributes
DenavitHartenbergModel	m_dh_model

vpHomogeneousMatrix	m_cMe

Inherited functionalities from vpBiclops
void	init (void)

void	computeMGD (const vpColVector &q, vpHomogeneousMatrix &fMc) const

vpHomogeneousMatrix	computeMGD (const vpColVector &q) const

void	computeMGD (const vpColVector &q, vpPoseVector &fPc) const

vpHomogeneousMatrix	get_cMe () const

void	get_cVe (vpVelocityTwistMatrix &cVe) const

void	get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc) const

void	get_fMc (const vpColVector &q, vpPoseVector &fPc) 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

vpBiclops::DenavitHartenbergModel	getDenavitHartenbergModel () const

void	set_cMe ()

void	set_cMe (const vpHomogeneousMatrix &cMe)

void	setDenavitHartenbergModel (vpBiclops::DenavitHartenbergModel dh_model=vpBiclops::DH1)

VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpBiclops &dummy)

Detailed Description

Jacobian, geometric model functionalities... for Biclops, pan, tilt head.

Two different Denavit-Hartenberg representations of the robot are implemented. As mentioned in vpBiclops::DenavitHartenbergModel they differ in the orientation of the tilt axis. Use setDenavitHartenbergModel() to select the representation.

See http://www.traclabs.com/tracbiclops.htm for more details concerning the hardware.

Definition at line 63 of file vpBiclops.h.

Member Enumeration Documentation

◆ DenavitHartenbergModel

enum vpBiclops::DenavitHartenbergModel

Two different Denavit-Hartenberg representations of the robot are implemented. As you can see in the next image, they differ in the orientation of the tilt axis.

Biclops PT models

The first representation, vpBiclops::DH1 is given by:

Joint			$\alpha_i$	$\theta_i$
1	0	0	$-\pi/2$
2	0	0	$\pi/2$	$q_2 + \pi/2$

The second one, vpBiclops::DH2 is given by:

Joint			$\alpha_i$	$\theta_i$
1	0	0	$\pi/2$
2	0	0	$-\pi/2$	$q_2 - \pi/2$

where are respectively the pan and tilt joint positions.

In those representations, the pan is oriented from left to right, while the tilt is oriented

in vpBiclops::DH1 from down to top,
in vpBiclops::DH2 from top to down.

Enumerator
DH1	First Denavit-Hartenberg representation.
DH2	Second Denavit-Hartenberg representation.

Definition at line 94 of file vpBiclops.h.

Constructor & Destructor Documentation

◆ vpBiclops()

vpBiclops::vpBiclops ( void )

Default constructor. Call init() that sets vpBiclops::DH1 Denavit-Hartenberg model.

Definition at line 167 of file vpBiclops.cpp.

References init().

◆ ~vpBiclops()

virtual vpBiclops::~vpBiclops ( )

inlinevirtual

Destructor that does nothing.

Definition at line 122 of file vpBiclops.h.

Member Function Documentation

◆ computeMGD() [1/3]

vpHomogeneousMatrix vpBiclops::computeMGD ( const vpColVector & q ) const

Return the direct geometric model of the camera: fMc

Warning: Provided for compatibility with previous versions. Use rather get_fMc(const vpColVector &).

Parameters

q	: Joint position for pan and tilt axis.

Returns: fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

See also: get_fMc(const vpColVector &)

Definition at line 67 of file vpBiclops.cpp.

References computeMGD().

◆ computeMGD() [2/3]

void vpBiclops::computeMGD	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc
	)		const

Compute the direct geometric model of the camera: fMc

Warning: Provided for compatibility with previous versions. Use rather get_fMc(const vpColVector &, vpHomogeneousMatrix &).

Parameters

q	: Joint position for pan and tilt axis.
fMc	: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

See also: get_fMc(const vpColVector &, vpHomogeneousMatrix &)

Definition at line 47 of file vpBiclops.cpp.

References get_fMe(), vpHomogeneousMatrix::inverse(), and m_cMe.

Referenced by computeMGD().

◆ computeMGD() [3/3]

void vpBiclops::computeMGD	(	const vpColVector &	q,
		vpPoseVector &	fPc
	)		const

Compute the direct geometric model of the camera in terms of pose vector.

Warning: Provided for compatibility with previous versions. Use rather get_fMc(const vpColVector &, vpPoseVector &).

Parameters

q	: Joint position for pan and tilt axis.
fPc	: Pose vector corresponding to the transformation between the robot reference frame (called fixed) and the camera frame.

See also: get_fMc(const vpColVector &, vpPoseVector &)

Definition at line 147 of file vpBiclops.cpp.

References vpPoseVector::buildFrom(), get_fMc(), and vpHomogeneousMatrix::inverse().

◆ get_cMe()

vpHomogeneousMatrix vpBiclops::get_cMe ( ) const

inline

Return the transformation ${^c}{\bf M}_e$ between the camera frame and the end effector frame.

Definition at line 195 of file vpBiclops.h.

Referenced by vpRobotBiclops::get_cMe(), and vpRobotBiclops::get_cVe().

◆ get_cVe()

void vpBiclops::get_cVe ( vpVelocityTwistMatrix & cVe ) const

Get the twist matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters

[out] cVe : Twist transformation between camera and end effector frame to express a velocity skew from end effector frame in camera frame.

Definition at line 185 of file vpBiclops.cpp.

References vpVelocityTwistMatrix::buildFrom(), and m_cMe.

◆ get_eJe()

void vpBiclops::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe
	)		const

Get the robot jacobian expressed in the end-effector frame.

Warning: Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).

Parameters

[in]	q	: Joint position for pan and tilt axis.
[out]	eJe	: Jacobian between end effector frame and end effector frame (on tilt axis).

Definition at line 212 of file vpBiclops.cpp.

References DH1, vpException::dimensionError, vpArray2D< Type >::getRows(), m_dh_model, and vpArray2D< Type >::resize().

Referenced by vpRobotBiclops::get_eJe().

◆ get_fJe()

void vpBiclops::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe
	)		const

Get the robot jacobian expressed in the robot reference frame

Parameters

[in]	q	: Joint position for pan and tilt axis.
[out]	fJe	: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Definition at line 237 of file vpBiclops.cpp.

References DH1, vpException::dimensionError, vpArray2D< Type >::getRows(), m_dh_model, and vpArray2D< Type >::resize().

Referenced by vpRobotBiclops::get_fJe().

◆ get_fMc() [1/3]

vpHomogeneousMatrix vpBiclops::get_fMc ( const vpColVector & q ) const

Return the direct geometric model of the camera: fMc

Parameters

[in] q : Joint position for pan and tilt axis.

Returns: fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 76 of file vpBiclops.cpp.

References get_fMc().

◆ get_fMc() [2/3]

void vpBiclops::get_fMc	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc
	)		const

Compute the direct geometric model of the camera: fMc

Parameters

[in]	q	: Joint position for pan and tilt axis.
[out]	fMc	: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 57 of file vpBiclops.cpp.

References get_fMe(), vpHomogeneousMatrix::inverse(), and m_cMe.

Referenced by computeMGD(), get_fMc(), and vpRobotBiclops::getDisplacement().

◆ get_fMc() [3/3]

void vpBiclops::get_fMc	(	const vpColVector &	q,
		vpPoseVector &	fPc
	)		const

Compute the direct geometric model of the camera in terms of pose vector.

Parameters

[in]	q	: Joint position for pan and tilt axis.
[out]	fPc	: Pose vector corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 157 of file vpBiclops.cpp.

References vpPoseVector::buildFrom(), get_fMc(), and vpHomogeneousMatrix::inverse().

◆ get_fMe()

vpHomogeneousMatrix vpBiclops::get_fMe ( const vpColVector & q ) const

Return the direct geometric model of the end effector: fMe

Parameters

[in] q : Joint position for pan and tilt axis.

Returns: fMe, the homogeneous matrix corresponding to the direct geometric model of the end effector. Describes the transformation between the robot reference frame (called fixed) and the end effector frame.

Definition at line 85 of file vpBiclops.cpp.

References DH1, vpException::dimensionError, vpArray2D< Type >::getRows(), and m_dh_model.

Referenced by computeMGD(), and get_fMc().

◆ getDenavitHartenbergModel()

vpBiclops::DenavitHartenbergModel vpBiclops::getDenavitHartenbergModel ( ) const

inline

Return the Denavit-Hartenberg representation used to model the head.

See also: vpBiclops::DenavitHartenbergModel

Definition at line 278 of file vpBiclops.h.

◆ init()

void vpBiclops::init ( void )

Initialization.

By default vpBiclops::DH1 Denavit-Hartenberg model is selected.
Initialize also the default ${^c}{\bf M}_e$ transformation calling set_cMe().
${^c}{\bf M}_e = \left( \begin{matrix} 0 & 1 & 0 & 0 \\ -1 & 0 & 0 & h \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{matrix} \right)$

Definition at line 169 of file vpBiclops.cpp.

References DH1, m_dh_model, and set_cMe().

Referenced by vpBiclops().

◆ set_cMe() [1/2]

void vpBiclops::set_cMe ( )

Set the default homogeneous matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

${^c}{\bf M}_e = \left( \begin{matrix} 0 & 1 & 0 & 0 \\ -1 & 0 & 0 & h \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{matrix} \right)$

Definition at line 187 of file vpBiclops.cpp.

References h, and m_cMe.

Referenced by init().

◆ set_cMe() [2/2]

void vpBiclops::set_cMe ( const vpHomogeneousMatrix & cMe )

inline

Set the transformation between the camera frame and the end effector frame.

Definition at line 302 of file vpBiclops.h.

◆ setDenavitHartenbergModel()

void vpBiclops::setDenavitHartenbergModel ( vpBiclops::DenavitHartenbergModel dh_model = vpBiclops::DH1 )

inline

Set the Denavit-Hartenberg representation used to model the head.

Parameters

[in] dh_model : Denavit-Hartenberg model.

See also: vpBiclops::DenavitHartenbergModel

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 309 of file vpBiclops.h.

Friends And Related Function Documentation

◆ operator<<

VISP_EXPORT std::ostream& operator<<	(	std::ostream &	os,
		const vpBiclops &	dummy
	)

friend

Set output stream with Biclops parameters.

Parameters

os	: Output stream.
dummy	: Not used.

Returns: Output stream with the Biclops parameters.

Definition at line 176 of file vpBiclops.cpp.

Member Data Documentation

◆ h

const float vpBiclops::h = 0.048f

static

Definition at line 104 of file vpBiclops.h.

Referenced by set_cMe().

◆ m_cMe

vpHomogeneousMatrix vpBiclops::m_cMe

protected

Camera frame to PT end-effector frame transformation.

Definition at line 111 of file vpBiclops.h.

Referenced by computeMGD(), get_cVe(), get_fMc(), and set_cMe().

◆ m_dh_model

DenavitHartenbergModel vpBiclops::m_dh_model

protected

Denavit-Hartenberg model.

Definition at line 110 of file vpBiclops.h.

Referenced by get_eJe(), get_fJe(), get_fMe(), and init().

◆ ndof

BEGIN_VISP_NAMESPACE const unsigned int vpBiclops::ndof = 2

static

Number of dof.

Examples: moveBiclops.cpp, and servoBiclopsPoint2DArtVelocity.cpp.

Definition at line 101 of file vpBiclops.h.

Referenced by vpRobotBiclops::getDisplacement(), vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpRobotBiclops::init(), vpRobotBiclops::readPositionFile(), vpRobotBiclops::setVelocity(), vpRobotBiclops::stopMotion(), and vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

◆ panJointLimit

const float vpBiclops::panJointLimit = (float)(M_PI)

static

Pan axis +/- joint limit in rad.

Definition at line 105 of file vpBiclops.h.

Referenced by vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

◆ speedLimit

const float vpBiclops::speedLimit = (float)(M_PI / 3.0)

static

Pan and tilt axis max velocity in rad/s to perform a displacement.

Definition at line 107 of file vpBiclops.h.

Referenced by vpRobotBiclops::setVelocity().

◆ tiltJointLimit

const float vpBiclops::tiltJointLimit = (float)(M_PI / 4.5)

static

Tilt axis +/- joint limit in rad.

Definition at line 106 of file vpBiclops.h.

Referenced by vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Inherited functionalities from vpBiclops

Detailed Description

Member Enumeration Documentation

◆ DenavitHartenbergModel

Constructor & Destructor Documentation

◆ vpBiclops()

◆ ~vpBiclops()

Member Function Documentation

◆ computeMGD() [1/3]

◆ computeMGD() [2/3]

◆ computeMGD() [3/3]

◆ get_cMe()

◆ get_cVe()

◆ get_eJe()

◆ get_fJe()

◆ get_fMc() [1/3]

◆ get_fMc() [2/3]

◆ get_fMc() [3/3]

◆ get_fMe()

◆ getDenavitHartenbergModel()

◆ init()

◆ set_cMe() [1/2]

◆ set_cMe() [2/2]

◆ setDenavitHartenbergModel()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ h

◆ m_cMe

◆ m_dh_model

◆ ndof

◆ panJointLimit

◆ speedLimit

◆ tiltJointLimit