Visual Servoing Platform  version 3.6.1 under development (2024-05-26)
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
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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  *
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25  * Inria at visp@inria.fr
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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/vpHomogeneousMatrix.h>
40 #include <visp3/core/vpMatrix.h>
41 #include <visp3/core/vpPoseVector.h>
42 #include <visp3/core/vpVelocityTwistMatrix.h>
43 
61 class VISP_EXPORT vpBiclops
62 {
63 public:
92  typedef enum
93  {
94  DH1,
95  DH2
96  } DenavitHartenbergModel;
97 
98 public:
99  static const unsigned int ndof;
100 
101  // Geometric model
102  static const float h; //<! Vertical offset from last joint to camera frame used in set_cMe()
103  static const float panJointLimit;
104  static const float tiltJointLimit;
105  static const float speedLimit;
106 
107 protected:
110 
111 public:
115  vpBiclops(void);
116 
120  virtual ~vpBiclops() { };
121 
124 
140  void init(void);
141 
156  void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
157 
172  vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
173 
187  void computeMGD(const vpColVector &q, vpPoseVector &fPc) const;
188 
193  vpHomogeneousMatrix get_cMe() const { return m_cMe; }
194 
203  void get_cVe(vpVelocityTwistMatrix &cVe) const;
204 
214  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
215 
225  void get_fMc(const vpColVector &q, vpPoseVector &fPc) const;
226 
236  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
237 
247  vpHomogeneousMatrix get_fMe(const vpColVector &q) const;
248 
260  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
261 
270  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
271 
276  inline vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const { return m_dh_model; }
277 
294  void set_cMe();
295 
300  void set_cMe(const vpHomogeneousMatrix &cMe) { m_cMe = cMe; }
301 
308  {
309  m_dh_model = dh_model;
310  }
311 
313 
320  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpBiclops &dummy);
321 };
322 
323 #endif
Jacobian, geometric model functionalities... for Biclops, pan, tilt head.
Definition: vpBiclops.h:62
static const float h
Definition: vpBiclops.h:102
vpHomogeneousMatrix m_cMe
Camera frame to PT end-effector frame transformation.
Definition: vpBiclops.h:109
static const float speedLimit
Pan and tilt axis max velocity in rad/s to perform a displacement.
Definition: vpBiclops.h:105
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel dh_model=vpBiclops::DH1)
Definition: vpBiclops.h:307
static const float tiltJointLimit
Tilt axis +/- joint limit in rad.
Definition: vpBiclops.h:104
DenavitHartenbergModel m_dh_model
Denavit-Hartenberg model.
Definition: vpBiclops.h:108
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpBiclops.h:300
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:193
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
Definition: vpBiclops.h:276
virtual ~vpBiclops()
Definition: vpBiclops.h:120
static const float panJointLimit
Pan axis +/- joint limit in rad.
Definition: vpBiclops.h:103
DenavitHartenbergModel
Definition: vpBiclops.h:93
@ DH1
First Denavit-Hartenberg representation.
Definition: vpBiclops.h:94
static const unsigned int ndof
Number of dof.
Definition: vpBiclops.h:99
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 pose vector and operations on poses.
Definition: vpPoseVector.h:190