Visual Servoing Platform  version 3.3.1 under development (2020-07-03)
vpAfma4.h
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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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  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpAfma4_h
40 #define _vpAfma4_h
41 
104 #include <visp3/core/vpCameraParameters.h>
105 #include <visp3/core/vpHomogeneousMatrix.h>
106 #include <visp3/core/vpImage.h>
107 #include <visp3/core/vpRGBa.h>
108 #include <visp3/core/vpVelocityTwistMatrix.h>
109 
110 class VISP_EXPORT vpAfma4
111 {
112 public:
113  vpAfma4();
115  virtual ~vpAfma4(){};
116 
119  void init(void);
120 
121  vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
122  /* int getInverseKinematics(const vpHomogeneousMatrix & fMc, */
123  /* vpColVector & q, const bool &nearest=true); */
124  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
125  void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
126  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
127 
128  void get_cMe(vpHomogeneousMatrix &cMe) const;
129  void get_cVe(vpVelocityTwistMatrix &cVe) const;
130  void get_cVf(const vpColVector &q, vpVelocityTwistMatrix &cVf) const;
131  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
132  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
133  void get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) const;
134 
135  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpAfma4 &afma4);
136 
137  vpColVector getJointMin() const;
138  vpColVector getJointMax() const;
140 
141 public:
142  static const unsigned int njoint;
143 
144 protected:
145  // Denavit Hartenberg parameters
146  double _a1; // distance along x2
147  double _d3; // distance along z2
148  double _d4; // distance along z3
149  double _joint_max[4]; // Maximal value of the joints
150  double _joint_min[4]; // Minimal value of the joints
151 
152  // Minimal representation of _eMc
154  vpRxyzVector _erc; // radian
155 
156  vpHomogeneousMatrix _eMc; // Camera extrinsic parameters: effector to camera
157 };
158 
159 /*
160  * Local variables:
161  * c-basic-offset: 2
162  * End:
163  */
164 
165 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
double _a1
Definition: vpAfma4.h:146
virtual ~vpAfma4()
Definition: vpAfma4.h:115
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix _eMc
Definition: vpAfma4.h:156
double _d4
Definition: vpAfma4.h:148
vpTranslationVector _etc
Definition: vpAfma4.h:153
static const unsigned int njoint
Number of joint.
Definition: vpAfma4.h:142
Modelisation of Irisa&#39;s cylindrical robot named Afma4.
Definition: vpAfma4.h:110
vpRxyzVector _erc
Definition: vpAfma4.h:154
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
double _d3
Definition: vpAfma4.h:147
Class that consider the case of a translation vector.