43 #include <visp3/core/vpDebug.h>
44 #include <visp3/robot/vpPtu46.h>
45 #include <visp3/robot/vpRobotException.h>
49 #include <visp3/core/vpMath.h>
88 fMc[0][3] = -
h * c1 * s2 -
L * s1;
93 fMc[1][3] = -
h * s1 * s2 +
L * c1;
105 vpCDEBUG(6) <<
"Position de la camera: " << std::endl << fMc;
174 os <<
"Geometric parameters: " << std::endl
259 double s2 = sin(q[1]);
260 double c2 = cos(q[1]);
288 double s1 = sin(q[0]);
289 double c1 = cos(q[0]);
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
unsigned int getRows() const
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
@ dimensionError
Bad dimension.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Implementation of a matrix and operations on matrices.
Implementation of a pose vector and operations on poses.
vpPoseVector buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz)
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception.
void get_cVe(vpVelocityTwistMatrix &_cVe) const
void get_cMe(vpHomogeneousMatrix &_cMe) const
static const unsigned int ndof
void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)