Visual Servoing Platform  version 3.6.1 under development (2024-10-15)
vpBiclops.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Interface for the Biclops robot.
32  */
33 
34 #ifndef _vpBiclops_h_
35 #define _vpBiclops_h_
36 
37 #include <iostream>
38 
39 #include <visp3/core/vpConfig.h>
40 #include <visp3/core/vpHomogeneousMatrix.h>
41 #include <visp3/core/vpMatrix.h>
42 #include <visp3/core/vpPoseVector.h>
43 #include <visp3/core/vpVelocityTwistMatrix.h>
44 
45 BEGIN_VISP_NAMESPACE
63 class VISP_EXPORT vpBiclops
64 {
65 public:
94  typedef enum
95  {
96  DH1,
97  DH2
98  } DenavitHartenbergModel;
99 
100 public:
101  static const unsigned int ndof;
102 
103  // Geometric model
104  static const float h; //<! Vertical offset from last joint to camera frame used in set_cMe()
105  static const float panJointLimit;
106  static const float tiltJointLimit;
107  static const float speedLimit;
108 
109 protected:
112 
113 public:
117  vpBiclops(void);
118 
122  virtual ~vpBiclops() { };
123 
126 
142  void init(void);
143 
158  void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
159 
174  vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
175 
189  void computeMGD(const vpColVector &q, vpPoseVector &fPc) const;
190 
195  vpHomogeneousMatrix get_cMe() const { return m_cMe; }
196 
205  void get_cVe(vpVelocityTwistMatrix &cVe) const;
206 
216  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
217 
227  void get_fMc(const vpColVector &q, vpPoseVector &fPc) const;
228 
238  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
239 
249  vpHomogeneousMatrix get_fMe(const vpColVector &q) const;
250 
262  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
263 
272  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
273 
278  inline vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const { return m_dh_model; }
279 
296  void set_cMe();
297 
302  void set_cMe(const vpHomogeneousMatrix &cMe) { m_cMe = cMe; }
303 
310  {
311  m_dh_model = dh_model;
312  }
313 
315 
322  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpBiclops &dummy);
323 };
324 END_VISP_NAMESPACE
325 #endif
Jacobian, geometric model functionalities... for Biclops, pan, tilt head.
Definition: vpBiclops.h:64
static const float h
Definition: vpBiclops.h:104
vpHomogeneousMatrix m_cMe
Camera frame to PT end-effector frame transformation.
Definition: vpBiclops.h:111
static const float speedLimit
Pan and tilt axis max velocity in rad/s to perform a displacement.
Definition: vpBiclops.h:107
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel dh_model=vpBiclops::DH1)
Definition: vpBiclops.h:309
static const float tiltJointLimit
Tilt axis +/- joint limit in rad.
Definition: vpBiclops.h:106
DenavitHartenbergModel m_dh_model
Denavit-Hartenberg model.
Definition: vpBiclops.h:110
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpBiclops.h:302
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:195
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
Definition: vpBiclops.h:278
virtual ~vpBiclops()
Definition: vpBiclops.h:122
static const float panJointLimit
Pan axis +/- joint limit in rad.
Definition: vpBiclops.h:105
DenavitHartenbergModel
Definition: vpBiclops.h:95
@ DH1
First Denavit-Hartenberg representation.
Definition: vpBiclops.h:96
static const unsigned int ndof
Number of dof.
Definition: vpBiclops.h:101
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:203