Biclops¶

class Biclops(self)¶

Bases: pybind11_object

Jacobian, geometric model functionalities… for Biclops, pan, tilt head.

Two different Denavit-Hartenberg representations of the robot are implemented. As mentioned in vpBiclops::DenavitHartenbergModel they differ in the orientation of the tilt axis. Use setDenavitHartenbergModel() to select the representation.

See http://www.traclabs.com/tracbiclops.htm for more details concerning the hardware.

Default constructor. Call init() that sets vpBiclops::DH1 Denavit-Hartenberg model.

Methods

`__init__`	Default constructor.
`computeMGD`	Overloaded function.
`getDenavitHartenbergModel`	Return the Denavit-Hartenberg representation used to model the head.
`get_cMe`	Return the transformation \({^c}{\bf M}_e\) between the camera frame and the end effector frame.
`get_cVe`	Get the twist matrix corresponding to the transformation between the camera frame and the end effector frame.
`get_eJe`	Get the robot jacobian expressed in the end-effector frame.
`get_fJe`	Get the robot jacobian expressed in the robot reference frame
`get_fMc`	Overloaded function.
`get_fMe`	Return the direct geometric model of the end effector: fMe
`init`	Initialization.
`setDenavitHartenbergModel`	Set the Denavit-Hartenberg representation used to model the head.
`set_cMe`	Overloaded function.

Inherited Methods

Operators

`__doc__`
`__init__`	Default constructor.
`__module__`
`__repr__`

Attributes

`DH1`
`DH2`
`__annotations__`
`h`
`ndof`
`panJointLimit`
`speedLimit`
`tiltJointLimit`

class DenavitHartenbergModel(self, value: int)¶

Bases: pybind11_object

Two different Denavit-Hartenberg representations of the robot are implemented. As you can see in the next image, they differ in the orientation of the tilt axis.

The first representation, vpBiclops::DH1 is given by:

The second one, vpBiclops::DH2 is given by:

where \(q_1, q_2\) are respectively the pan and tilt joint positions.

In those representations, the pan is oriented from left to right, while the tilt is oriented

in vpBiclops::DH1 from down to top,
in vpBiclops::DH2 from top to down.

Values:

DH1: First Denavit-Hartenberg representation.
DH2: Second Denavit-Hartenberg representation.

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

__init__(self)¶: Default constructor. Call init() that sets vpBiclops::DH1 Denavit-Hartenberg model.

computeMGD(*args, **kwargs)¶

Overloaded function.

computeMGD(self: visp._visp.robot.Biclops, q: visp._visp.core.ColVector, fMc: visp._visp.core.HomogeneousMatrix) -> None

Compute the direct geometric model of the camera: fMc

Warning

Provided for compatibility with previous versions. Use rather get_fMc(const vpColVector &, vpHomogeneousMatrix &).

Note

See get_fMc(const vpColVector &, vpHomogeneousMatrix &)

Parameters:

q: Joint position for pan and tilt axis.
fMc: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

computeMGD(self: visp._visp.robot.Biclops, q: visp._visp.core.ColVector) -> visp._visp.core.HomogeneousMatrix

Return the direct geometric model of the camera: fMc

Note

See get_fMc(const vpColVector &)

Parameters:

q: Joint position for pan and tilt axis.

Returns:

fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

computeMGD(self: visp._visp.robot.Biclops, q: visp._visp.core.ColVector, fPc: visp._visp.core.PoseVector) -> None

Compute the direct geometric model of the camera in terms of pose vector.

Warning

Provided for compatibility with previous versions. Use rather get_fMc(const vpColVector &, vpPoseVector &).

Note

See get_fMc(const vpColVector &, vpPoseVector &)

Parameters:

q: Joint position for pan and tilt axis.
fPc: Pose vector corresponding to the transformation between the robot reference frame (called fixed) and the camera frame.

getDenavitHartenbergModel(self) → visp._visp.robot.Biclops.DenavitHartenbergModel¶: Return the Denavit-Hartenberg representation used to model the head.

Note

See vpBiclops::DenavitHartenbergModel

get_cMe(self) → visp._visp.core.HomogeneousMatrix¶: Return the transformation \({^c}{\bf M}_e\) between the camera frame and the end effector frame.

get_cVe(self, cVe: visp._visp.core.VelocityTwistMatrix) → None¶

Get the twist matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters:

cVe: visp._visp.core.VelocityTwistMatrix¶: Twist transformation between camera and end effector frame to express a velocity skew from end effector frame in camera frame.

get_eJe(self, q: visp._visp.core.ColVector, eJe: visp._visp.core.Matrix) → None¶

Get the robot jacobian expressed in the end-effector frame.

Warning

Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).

Parameters:

q: visp._visp.core.ColVector¶: Joint position for pan and tilt axis.
eJe: visp._visp.core.Matrix¶: Jacobian between end effector frame and end effector frame (on tilt axis).

get_fJe(self, q: visp._visp.core.ColVector, fJe: visp._visp.core.Matrix) → None¶

Get the robot jacobian expressed in the robot reference frame

Parameters:

q: visp._visp.core.ColVector¶: Joint position for pan and tilt axis.
fJe: visp._visp.core.Matrix¶: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

get_fMc(*args, **kwargs)¶

Overloaded function.

get_fMc(self: visp._visp.robot.Biclops, q: visp._visp.core.ColVector, fMc: visp._visp.core.HomogeneousMatrix) -> None

Compute the direct geometric model of the camera: fMc

Parameters:

q: Joint position for pan and tilt axis.
fMc: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

get_fMc(self: visp._visp.robot.Biclops, q: visp._visp.core.ColVector, fPc: visp._visp.core.PoseVector) -> None

Compute the direct geometric model of the camera in terms of pose vector.

Parameters:

q: Joint position for pan and tilt axis.
fPc: Pose vector corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

get_fMc(self: visp._visp.robot.Biclops, q: visp._visp.core.ColVector) -> visp._visp.core.HomogeneousMatrix

Return the direct geometric model of the camera: fMc

Parameters:

q: Joint position for pan and tilt axis.

Returns:

fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

get_fMe(self, q: visp._visp.core.ColVector) → visp._visp.core.HomogeneousMatrix¶

Return the direct geometric model of the end effector: fMe

Parameters:

q: visp._visp.core.ColVector¶: Joint position for pan and tilt axis.

Returns:

fMe, the homogeneous matrix corresponding to the direct geometric model of the end effector. Describes the transformation between the robot reference frame (called fixed) and the end effector frame.

init(self) → None¶

Initialization.

By default vpBiclops::DH1 Denavit-Hartenberg model is selected.
Initialize also the default \({^c}{\bf M}_e\) transformation calling set_cMe() .

\[\begin{split}{^c}{\bf M}_e = \left( \begin{matrix} 0 & 1 & 0 & 0 \\-1 & 0 & 0 & h \\0 & 0 & 1 & 0 \\0 & 0 & 0 & 1 \end{matrix} \right) \end{split}\]

setDenavitHartenbergModel(self, dh_model: visp._visp.robot.Biclops.DenavitHartenbergModel) → None¶

Set the Denavit-Hartenberg representation used to model the head.

Note

See vpBiclops::DenavitHartenbergModel

Parameters:

dh_model: visp._visp.robot.Biclops.DenavitHartenbergModel¶: Denavit-Hartenberg model.

set_cMe(*args, **kwargs)¶

Overloaded function.

set_cMe(self: visp._visp.robot.Biclops) -> None

Set the default homogeneous matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

\[\begin{split}{^c}{\bf M}_e = \left( \begin{matrix} 0 & 1 & 0 & 0 \\-1 & 0 & 0 & h \\0 & 0 & 1 & 0 \\0 & 0 & 0 & 1 \end{matrix} \right) \end{split}\]

set_cMe(self: visp._visp.robot.Biclops, cMe: visp._visp.core.HomogeneousMatrix) -> None

Set the transformation between the camera frame and the end effector frame.