Visual Servoing Platform  version 3.6.0 under development (2023-09-25)
vpBiclops.h
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30  *
31  * Description:
32  * Interface for the Biclops robot.
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34 *****************************************************************************/
35 
36 #ifndef _vpBiclops_h_
37 #define _vpBiclops_h_
38 
39 /* ----------------------------------------------------------------------- */
40 /* --- INCLUDES -------------------------------------------------------- */
41 /* --------------------------------------------------------------------- */
42 
43 /* --- ViSP --- */
44 #include <visp3/core/vpHomogeneousMatrix.h>
45 #include <visp3/core/vpMath.h>
46 #include <visp3/core/vpMatrix.h>
47 #include <visp3/core/vpPoseVector.h>
48 #include <visp3/core/vpRxyzVector.h>
49 #include <visp3/core/vpTranslationVector.h>
50 #include <visp3/core/vpVelocityTwistMatrix.h>
51 
52 /* --- GENERAL --- */
53 #include <iostream>
54 
74 class VISP_EXPORT vpBiclops
75 {
76 public:
117  typedef enum {
118  DH1,
119  DH2
120  } DenavitHartenbergModel;
121 
122 public: /* Constants */
123  static const unsigned int ndof;
125  /* Geometric model */
126  static const float h;
127 
128  static const float panJointLimit;
129  static const float tiltJointLimit;
130  static const float speedLimit;
131 
132 protected:
134  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
135 
136 public:
137  vpBiclops(void);
139  virtual ~vpBiclops(){};
140 
143 
144  void init(void);
145 
146  void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
147  vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
148  void computeMGD(const vpColVector &q, vpPoseVector &fvc) const;
149 
154  vpHomogeneousMatrix get_cMe() const { return cMe_; }
155 
156  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
157  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
158  void get_fMc(const vpColVector &q, vpPoseVector &fvc) const;
159  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
160  vpHomogeneousMatrix get_fMe(const vpColVector &q) const;
161 
162  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
163  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
164 
170 
171  void set_cMe();
176  void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
183 
185  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpBiclops &constant);
186 };
187 
188 #endif
Jacobian, geometric model functionalities... for biclops, pan, tilt head.
Definition: vpBiclops.h:75
vpHomogeneousMatrix cMe_
Definition: vpBiclops.h:134
static const float h
Definition: vpBiclops.h:126
static const float speedLimit
Definition: vpBiclops.h:130
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel m=vpBiclops::DH1)
Definition: vpBiclops.h:182
static const float tiltJointLimit
Definition: vpBiclops.h:129
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpBiclops.h:176
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:154
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
Definition: vpBiclops.h:169
virtual ~vpBiclops()
Definition: vpBiclops.h:139
static const float panJointLimit
Definition: vpBiclops.h:128
DenavitHartenbergModel
Definition: vpBiclops.h:117
DenavitHartenbergModel dh_model_
Definition: vpBiclops.h:133
static const unsigned int ndof
Definition: vpBiclops.h:123
Implementation of column vector and the associated operations.
Definition: vpColVector.h:167
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:192