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>
98 } DenavitHartenbergModel;
101 static const unsigned int ndof;
104 static const float h;
311 m_dh_model = dh_model;
322 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpBiclops &dummy);
Jacobian, geometric model functionalities... for Biclops, pan, tilt head.
vpHomogeneousMatrix m_cMe
Camera frame to PT end-effector frame transformation.
static const float speedLimit
Pan and tilt axis max velocity in rad/s to perform a displacement.
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel dh_model=vpBiclops::DH1)
static const float tiltJointLimit
Tilt axis +/- joint limit in rad.
DenavitHartenbergModel m_dh_model
Denavit-Hartenberg model.
void set_cMe(const vpHomogeneousMatrix &cMe)
vpHomogeneousMatrix get_cMe() const
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
static const float panJointLimit
Pan axis +/- joint limit in rad.
@ DH1
First Denavit-Hartenberg representation.
static const unsigned int ndof
Number of dof.
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Implementation of a pose vector and operations on poses.