Visual Servoing Platform  version 3.6.1 under development (2024-11-15)
vpPtu46.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See https://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the ptu-46 robot.
33  *
34 *****************************************************************************/
35 
36 #ifndef _vpPtu46_h_
37 #define _vpPtu46_h_
38 
39 /* ----------------------------------------------------------------------- */
40 /* --- INCLUDES -------------------------------------------------------- */
41 /* --------------------------------------------------------------------- */
42 
43 /* --- GENERAL --- */
44 #include <iostream>
45 
46 /* --- ViSP --- */
47 #include <visp3/core/vpConfig.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/core/vpPoseVector.h>
51 
52 #include <visp3/core/vpMath.h>
53 #include <visp3/core/vpRxyzVector.h>
54 #include <visp3/core/vpTranslationVector.h>
55 #include <visp3/core/vpVelocityTwistMatrix.h>
56 
57 BEGIN_VISP_NAMESPACE
71 class VISP_EXPORT vpPtu46
72 {
73 
74 public: /* Constants */
76  static const unsigned int ndof;
79  static const float L;
80  static const float h;
81 
82 public: /* Methodes publiques */
83  vpPtu46(void);
85  virtual ~vpPtu46() { };
86 
89  void init(void);
90 
91  void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
92  vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
93  void computeMGD(const vpColVector &q, vpPoseVector &r) const;
94 
95  void get_cMe(vpHomogeneousMatrix &_cMe) const;
96  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
97  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
98  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
99 
101  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPtu46 &constant);
102 };
103 END_VISP_NAMESPACE
104 #endif
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:221
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
vpPoseVector
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:203
vpPtu46
Jacobian, geometric model functionalities... for ptu46, pan, tilt head from Directed Perception.
Definition: vpPtu46.h:72
vpPtu46::ndof
static const unsigned int ndof
Definition: vpPtu46.h:76
vpPtu46::L
static const float L
Definition: vpPtu46.h:79
vpPtu46::~vpPtu46
virtual ~vpPtu46()
Definition: vpPtu46.h:85
vpPtu46::h
static const float h
Definition: vpPtu46.h:80