Ptu46¶

class Ptu46(self)¶

Bases: pybind11_object

Jacobian, geometric model functionalities… for ptu46, pan, tilt head from Directed Perception.

See http://www.DPerception.com for more details.

Default constructor. Call init() .

Methods

`__init__`	Default constructor.
`computeMGD`	Overloaded function.
`get_cMe`	Get the homogeneous matrix corresponding to the transformation 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
`init`	Initialization.

Inherited Methods

Operators

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

Attributes

`L`
`__annotations__`
`h`
`ndof`

__init__(self)¶: Default constructor. Call init() .

computeMGD(*args, **kwargs)¶

Overloaded function.

computeMGD(self: visp._visp.robot.Ptu46, q: visp._visp.core.ColVector, fMc: visp._visp.core.HomogeneousMatrix) -> None

Compute the direct geometric model of the camera: fMc

Parameters:

q: Articular 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.Ptu46, q: visp._visp.core.ColVector) -> visp._visp.core.HomogeneousMatrix

Return the direct geometric model of the camera: fMc

Parameters:

q: Articular 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.Ptu46, q: visp._visp.core.ColVector, r: visp._visp.core.PoseVector) -> None

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

Parameters:

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

get_cMe(self, _cMe: visp._visp.core.HomogeneousMatrix) → None¶: Get the 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.

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.

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¶: Articular 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¶: Articular 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).

init(self) → None¶: Initialization. Here nothing to do.