Visual Servoing Platform  version 3.6.1 under development (2024-05-20)
vpAfma4.h
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3  * ViSP, open source Visual Servoing Platform software.
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Irisa's Afma4 robot.
33  *
34 *****************************************************************************/
35 
36 #ifndef _vpAfma4_h
37 #define _vpAfma4_h
38 
101 #include <visp3/core/vpCameraParameters.h>
102 #include <visp3/core/vpHomogeneousMatrix.h>
103 #include <visp3/core/vpImage.h>
104 #include <visp3/core/vpRGBa.h>
105 #include <visp3/core/vpVelocityTwistMatrix.h>
106 
107 class VISP_EXPORT vpAfma4
108 {
109 public:
110  vpAfma4();
112  virtual ~vpAfma4(){};
113 
116  void init(void);
117 
118  vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
119  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
120  void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
121  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
122 
123  void get_cMe(vpHomogeneousMatrix &cMe) const;
124  void get_cVe(vpVelocityTwistMatrix &cVe) const;
125  void get_cVf(const vpColVector &q, vpVelocityTwistMatrix &cVf) const;
126  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
127  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
128  void get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) const;
129 
130  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpAfma4 &afma4);
131 
132  vpColVector getJointMin() const;
133  vpColVector getJointMax() const;
135 
136 public:
137  static const unsigned int njoint;
138 
139 protected:
140  // Denavit-Hartenberg parameters
141  double _a1; // distance along x2
142  double _d3; // distance along z2
143  double _d4; // distance along z3
144  double _joint_max[4]; // Maximal value of the joints
145  double _joint_min[4]; // Minimal value of the joints
146 
147  // Minimal representation of _eMc
149  vpRxyzVector _erc; // radian
150 
151  vpHomogeneousMatrix _eMc; // Camera extrinsic parameters: effector to camera
152 };
153 
154 /*
155  * Local variables:
156  * c-basic-offset: 2
157  * End:
158  */
159 
160 #endif
Modelization of Irisa's cylindrical robot named Afma4.
Definition: vpAfma4.h:108
double _d3
Definition: vpAfma4.h:142
vpTranslationVector _etc
Definition: vpAfma4.h:148
static const unsigned int njoint
Number of joint.
Definition: vpAfma4.h:137
vpRxyzVector _erc
Definition: vpAfma4.h:149
double _a1
Definition: vpAfma4.h:141
double _d4
Definition: vpAfma4.h:143
vpHomogeneousMatrix _eMc
Definition: vpAfma4.h:151
virtual ~vpAfma4()
Definition: vpAfma4.h:112
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
Class that consider the case of a translation vector.