vpBiclops.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Interface for the Biclops robot.
 */
 
#ifndef _vpBiclops_h_
#define _vpBiclops_h_
 
#include <iostream>
 
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpPoseVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
 
class VISP_EXPORT vpBiclops
{
public:
  typedef enum
  {
    DH1, 
    DH2  
  } DenavitHartenbergModel;
 
public:
  static const unsigned int ndof; 
 
  // Geometric model
  static const float h;              //<! Vertical offset from last joint to camera frame used in set_cMe()
  static const float panJointLimit;  
  static const float tiltJointLimit; 
  static const float speedLimit;     
 
protected:
  DenavitHartenbergModel m_dh_model; 
  vpHomogeneousMatrix m_cMe; 
 
public:
  vpBiclops(void);
 
  virtual ~vpBiclops() { };
 
 
  void init(void);
 
  void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
 
  vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
 
  void computeMGD(const vpColVector &q, vpPoseVector &fPc) const;
 
  vpHomogeneousMatrix get_cMe() const { return m_cMe; }
 
  void get_cVe(vpVelocityTwistMatrix &cVe) const;
 
  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
 
  void get_fMc(const vpColVector &q, vpPoseVector &fPc) const;
 
  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
 
  vpHomogeneousMatrix get_fMe(const vpColVector &q) const;
 
  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
 
  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
 
  inline vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const { return m_dh_model; }
 
  void set_cMe();
 
  void set_cMe(const vpHomogeneousMatrix &cMe) { m_cMe = cMe; }
 
  inline void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel dh_model = vpBiclops::DH1)
  {
    m_dh_model = dh_model;
  }
 
 
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpBiclops &dummy);
};
 
#endif