50 #include <visp3/core/vpCameraParameters.h>
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpImage.h>
53 #include <visp3/core/vpRGBa.h>
54 #include <visp3/core/vpVelocityTwistMatrix.h>
55 #include <visp3/robot/vpRobotException.h>
123 const bool &verbose =
false)
const;
144 double getCoupl56()
const;
147 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpViper &viper);
150 bool convertJointPositionInLimits(
unsigned int joint,
const double &q,
double &q_mod,
151 const bool &verbose =
false)
const;
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Class that consider the case of a translation vector.
Modelisation of the ADEPT Viper robot.
double c56
Mechanical coupling between joint 5 and joint 6.
vpHomogeneousMatrix eMc
End effector to camera transformation.
static const unsigned int njoint
Number of joint.
double d7
for force/torque location