Visual Servoing Platform  version 3.4.1 under development (2021-09-19)
vpPtu46.h
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3  * ViSP, open source Visual Servoing Platform software.
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the ptu-46 robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpPtu46_h_
40 #define _vpPtu46_h_
41 
42 /* ----------------------------------------------------------------------- */
43 /* --- INCLUDES -------------------------------------------------------- */
44 /* --------------------------------------------------------------------- */
45 
46 /* --- GENERAL --- */
47 #include <iostream>
48 
49 /* --- ViSP --- */
50 #include <visp3/core/vpConfig.h>
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpMatrix.h>
53 #include <visp3/core/vpPoseVector.h>
54 
55 #include <visp3/core/vpMath.h>
56 #include <visp3/core/vpRxyzVector.h>
57 #include <visp3/core/vpTranslationVector.h>
58 #include <visp3/core/vpVelocityTwistMatrix.h>
59 
73 class VISP_EXPORT vpPtu46
74 {
75 
76 public: /* Constants */
78  static const unsigned int ndof;
81  static const float L;
82  static const float h;
83 
84 public: /* Methodes publiques */
85  vpPtu46(void);
87  virtual ~vpPtu46(){};
88 
91  void init(void);
92 
93  void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
94  vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
95  void computeMGD(const vpColVector &q, vpPoseVector &r) const;
96 
97  void get_cMe(vpHomogeneousMatrix &_cMe) const;
98  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
99  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
100  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
101 
103  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPtu46 &constant);
104 };
105 
106 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
static const float L
Definition: vpPtu46.h:81
virtual ~vpPtu46()
Definition: vpPtu46.h:87
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const unsigned int ndof
Definition: vpPtu46.h:78
static const float h
Definition: vpPtu46.h:82
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception...
Definition: vpPtu46.h:73
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151