Visual Servoing Platform  version 3.6.1 under development (2024-06-12)
vpPtu46.h
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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 
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 };
104 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:187
Jacobian, geometric model functionalities... for ptu46, pan, tilt head from Directed Perception.
Definition: vpPtu46.h:72
static const unsigned int ndof
Definition: vpPtu46.h:76
static const float L
Definition: vpPtu46.h:79
virtual ~vpPtu46()
Definition: vpPtu46.h:85
static const float h
Definition: vpPtu46.h:80