#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	dh_model_

vpHomogeneousMatrix	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 &fvc) 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 &fvc) 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 m=vpBiclops::DH1)

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

Detailed Description

Jacobian, geometric model functionnalities... for biclops, pan, tilt head.

Two different Denavit Hartenberg representations of the robot are implemented. As mentionned 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 77 of file vpBiclops.h.

Member Enumeration Documentation

◆ DenavitHartenbergModel

enum vpBiclops::DenavitHartenbergModel

Two different Denavit Hartenberg representations of the robot are implemented. They differ in the orientation of the tilt axis.

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

$\begin{tabular}{|c|c|c|c|c|} \hline Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\ \hline 1 & 0 & 0 & $-\pi/2$ & $q_1^*$ \\ 2 & 0 & 0 & $ \pi/2$ & $q_2^* + \pi/2$ \\ \hline \end{tabular}$

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

$\begin{tabular}{|c|c|c|c|c|} \hline Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\ \hline 1 & 0 & 0 & $ \pi/2$ & $q_1^*$ \\ 2 & 0 & 0 & $ -\pi/2$ & $q_2^* - \pi/2$ \\ \hline \end{tabular}$

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 120 of file vpBiclops.h.

Constructor & Destructor Documentation

◆ vpBiclops()

vpBiclops::vpBiclops ( void )

Default construtor. Call init().

Definition at line 272 of file vpBiclops.cpp.

References init().

◆ ~vpBiclops()

virtual vpBiclops::~vpBiclops ( )

inlinevirtual

Destructor that does nothing.

Definition at line 142 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 compatibilty with previous versions. Use rather get_fMc(const vpColVector &).

Parameters

q	: Articular 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 119 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 compatibilty with previous versions. Use rather get_fMc(const vpColVector &, vpHomogeneousMatrix &).

Parameters

q	: Articular 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 75 of file vpBiclops.cpp.

References cMe_, get_fMe(), vpHomogeneousMatrix::inverse(), and vpCDEBUG.

Referenced by computeMGD().

◆ computeMGD() [3/3]

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

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

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

Parameters

q	: Articular position for pan and tilt axis.
fvc	: 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 233 of file vpBiclops.cpp.

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

◆ get_cMe()

vpHomogeneousMatrix vpBiclops::get_cMe ( ) const

inline

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

Definition at line 157 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

cVe	: Twist transformation between camera and end effector frame to expess a velocity skew from end effector frame in camera frame.

Definition at line 312 of file vpBiclops.cpp.

References vpVelocityTwistMatrix::buildFrom(), and 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

q	: Articular position for pan and tilt axis.
eJe	: Jacobian between end effector frame and end effector frame (on tilt axis).

Definition at line 360 of file vpBiclops.cpp.

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

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

q	: Articular position for pan and tilt axis.
fJe	: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Definition at line 394 of file vpBiclops.cpp.

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

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

q	: Articular position for pan and tilt axis.

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

Definition at line 138 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

q	: Articular 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.

Definition at line 95 of file vpBiclops.cpp.

References cMe_, get_fMe(), vpHomogeneousMatrix::inverse(), and vpCDEBUG.

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

◆ get_fMc() [3/3]

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

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

Parameters

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

Definition at line 253 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

q	: Articular 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 157 of file vpBiclops.cpp.

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

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 172 of file vpBiclops.h.

◆ init()

void vpBiclops::init ( void )

Initialization. Set the default ${^c}{\bf M}_e$ transformation.

Definition at line 282 of file vpBiclops.cpp.

References DH1, 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.

Definition at line 321 of file vpBiclops.cpp.

References cMe_, h, and vpHomogeneousMatrix::inverse().

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 179 of file vpBiclops.h.

◆ setDenavitHartenbergModel()

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

inline

Set the Denavit Hartenberg representation used to model the head.

See also: vpBiclops::DenavitHartenbergModel

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 185 of file vpBiclops.h.

Friends And Related Function Documentation

◆ operator<<

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

friend

Definition at line 293 of file vpBiclops.cpp.

Member Data Documentation

◆ cMe_

vpHomogeneousMatrix vpBiclops::cMe_

protected

Definition at line 137 of file vpBiclops.h.

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

◆ dh_model_

DenavitHartenbergModel vpBiclops::dh_model_

protected

Definition at line 136 of file vpBiclops.h.

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

◆ h

const float vpBiclops::h = 0.048f

static

Definition at line 129 of file vpBiclops.h.

Referenced by set_cMe().

◆ ndof

const unsigned int vpBiclops::ndof = 2

static

Number of dof

Examples: moveBiclops.cpp.

Definition at line 126 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 range (in rad): from -panJointLimit to + panJointLimit

Definition at line 131 of file vpBiclops.h.

Referenced by vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

◆ speedLimit

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

static

Maximum speed (in rad/s) to perform a displacement

Definition at line 133 of file vpBiclops.h.

Referenced by vpRobotBiclops::setVelocity().

◆ tiltJointLimit

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

static

Tilt range (in rad): from -tiltJointLimit to + tiltJointLimit

Definition at line 132 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

◆ cMe_

◆ dh_model_

◆ h

◆ ndof

◆ panJointLimit

◆ speedLimit

◆ tiltJointLimit