vpPtu46 Class Reference

#include <visp3/robot/vpPtu46.h>

Inheritance diagram for vpPtu46:

Public Member Functions
	vpPtu46 (void)
virtual	~vpPtu46 ()

Static Public Attributes
static const unsigned int	ndof = 2
static const float	L = 0.0765f
static const float	h = 0.068f

Inherited functionalities from vpPtu46
void	init (void)
void	computeMGD (const vpColVector &q, vpHomogeneousMatrix &fMc) const
vpHomogeneousMatrix	computeMGD (const vpColVector &q) const
void	computeMGD (const vpColVector &q, vpPoseVector &r) const
void	get_cMe (vpHomogeneousMatrix &_cMe) const
void	get_cVe (vpVelocityTwistMatrix &_cVe) const
void	get_eJe (const vpColVector &q, vpMatrix &eJe) const
void	get_fJe (const vpColVector &q, vpMatrix &fJe) const
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpPtu46 &constant)

Detailed Description

Jacobian, geometric model functionalities... for ptu46, pan, tilt head from Directed Perception.

See http://www.DPerception.com for more details.

Definition at line 71 of file vpPtu46.h.

Constructor & Destructor Documentation

vpPtu46()

vpPtu46::vpPtu46

(

void

)

Default constructor. Call init().

Definition at line 155 of file vpPtu46.cpp.

References init().

~vpPtu46()

virtual vpPtu46::~vpPtu46 ( )

inlinevirtual

Destructor that does nothing.

Definition at line 85 of file vpPtu46.h.

Member Function Documentation

computeMGD() [1/3]

vpHomogeneousMatrix vpPtu46::computeMGD

(

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. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 118 of file vpPtu46.cpp.

References computeMGD().

computeMGD() [2/3]

void vpPtu46::computeMGD	(	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 68 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), h, and L.

Referenced by computeMGD().

computeMGD() [3/3]

void vpPtu46::computeMGD	(	const vpColVector &	q,
		vpPoseVector &	r
	)		const

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

Parameters

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

Definition at line 136 of file vpPtu46.cpp.

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

get_cMe()

void vpPtu46::get_cMe

(

vpHomogeneousMatrix &

cMe

)

const

Get the 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.

Parameters

cMe	: Homogeneous matrix between camera and end effector frame.

Definition at line 208 of file vpPtu46.cpp.

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

Referenced by vpRobotPtu46::get_cMe(), get_cVe(), and vpRobotPtu46::get_cVe().

get_cVe()

void vpPtu46::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 express a velocity skew from end effector frame in camera frame.

Definition at line 191 of file vpPtu46.cpp.

References vpVelocityTwistMatrix::buildFrom(), and get_cMe().

get_eJe()

void vpPtu46::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 247 of file vpPtu46.cpp.

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

Referenced by vpRobotPtu46::get_eJe().

get_fJe()

void vpPtu46::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 276 of file vpPtu46.cpp.

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

Referenced by vpRobotPtu46::get_fJe().

init()

void vpPtu46::init

(

void

)

Initialization. Here nothing to do.

Definition at line 164 of file vpPtu46.cpp.

Referenced by vpPtu46().

Friends And Related Function Documentation

operator<<

VISP_EXPORT std::ostream& operator<< ( std::ostream &  os, const vpPtu46 &  constant  )

friend

Definition at line 170 of file vpPtu46.cpp.

Member Data Documentation

h

const float vpPtu46::h = 0.068f

static

Horizontal offset along the last joint, from last joint to camera frame.

Definition at line 80 of file vpPtu46.h.

Referenced by computeMGD(), and get_cMe().

L

const float vpPtu46::L = 0.0765f

static

Geometric model

Definition at line 79 of file vpPtu46.h.

Referenced by computeMGD(), and get_cMe().

ndof

BEGIN_VISP_NAMESPACE const unsigned int vpPtu46::ndof = 2

static

Nombre d'articulations du robot. Number of dof

Definition at line 76 of file vpPtu46.h.

Referenced by vpRobotPtu46::getDisplacement(), vpRobotPtu46::getPosition(), vpRobotPtu46::getVelocity(), and vpRobotPtu46::readPositionFile().