Visual Servoing Platform  version 3.4.1 under development (2021-09-25)
vpBiclops.h
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Biclops robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpBiclops_h_
40 #define _vpBiclops_h_
41 
42 /* ----------------------------------------------------------------------- */
43 /* --- INCLUDES -------------------------------------------------------- */
44 /* --------------------------------------------------------------------- */
45 
46 /* --- ViSP --- */
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpMath.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/core/vpPoseVector.h>
51 #include <visp3/core/vpRxyzVector.h>
52 #include <visp3/core/vpTranslationVector.h>
53 #include <visp3/core/vpVelocityTwistMatrix.h>
54 
55 /* --- GENERAL --- */
56 #include <iostream>
57 
77 class VISP_EXPORT vpBiclops
78 {
79 public:
120  typedef enum {
121  DH1,
122  DH2
124 
125 public: /* Constants */
126  static const unsigned int ndof;
128  /* Geometric model */
129  static const float h;
130 
131  static const float panJointLimit;
132  static const float tiltJointLimit;
133  static const float speedLimit;
134 
135 protected:
136  DenavitHartenbergModel dh_model_;
137  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
138 
139 public:
140  vpBiclops(void);
142  virtual ~vpBiclops(){};
143 
146 
147  void init(void);
148 
149  void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
150  vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
151  void computeMGD(const vpColVector &q, vpPoseVector &fvc) const;
152 
157  vpHomogeneousMatrix get_cMe() const { return cMe_; }
158 
159  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
160  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
161  void get_fMc(const vpColVector &q, vpPoseVector &fvc) const;
162  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
163  vpHomogeneousMatrix get_fMe(const vpColVector &q) const;
164 
165  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
166  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
167 
173 
174  void set_cMe();
179  void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
186 
188  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpBiclops &constant);
189 };
190 
191 #endif
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
Definition: vpBiclops.h:77
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:157
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpBiclops.h:179
vpHomogeneousMatrix cMe_
Definition: vpBiclops.h:137
static const unsigned int ndof
Definition: vpBiclops.h:126
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const float tiltJointLimit
Definition: vpBiclops.h:132
static const float speedLimit
Definition: vpBiclops.h:133
virtual ~vpBiclops()
Definition: vpBiclops.h:142
static const float panJointLimit
Definition: vpBiclops.h:131
static const float h
Definition: vpBiclops.h:129
DenavitHartenbergModel
Definition: vpBiclops.h:120
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel m=vpBiclops::DH1)
Definition: vpBiclops.h:185
DenavitHartenbergModel dh_model_
Definition: vpBiclops.h:136
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
Definition: vpBiclops.h:172
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151