Visual Servoing Platform version 3.5.0
vpBiclops.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Interface for the Biclops robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef _vpBiclops_h_
40#define _vpBiclops_h_
41
42/* ----------------------------------------------------------------------- */
43/* --- INCLUDES -------------------------------------------------------- */
44/* --------------------------------------------------------------------- */
45
46/* --- ViSP --- */
47#include <visp3/core/vpHomogeneousMatrix.h>
48#include <visp3/core/vpMath.h>
49#include <visp3/core/vpMatrix.h>
50#include <visp3/core/vpPoseVector.h>
51#include <visp3/core/vpRxyzVector.h>
52#include <visp3/core/vpTranslationVector.h>
53#include <visp3/core/vpVelocityTwistMatrix.h>
54
55/* --- GENERAL --- */
56#include <iostream>
57
77class VISP_EXPORT vpBiclops
78{
79public:
120 typedef enum {
122 DH2
123 } DenavitHartenbergModel;
124
125public: /* Constants */
126 static const unsigned int ndof;
128 /* Geometric model */
129 static const float h;
130
131 static const float panJointLimit;
132 static const float tiltJointLimit;
133 static const float speedLimit;
134
135protected:
137 vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
138
139public:
140 vpBiclops(void);
142 virtual ~vpBiclops(){};
143
146
147 void init(void);
148
149 void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
150 vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
151 void computeMGD(const vpColVector &q, vpPoseVector &fvc) const;
152
157 vpHomogeneousMatrix get_cMe() const { return cMe_; }
158
159 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
160 void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
161 void get_fMc(const vpColVector &q, vpPoseVector &fvc) const;
162 vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
163 vpHomogeneousMatrix get_fMe(const vpColVector &q) const;
164
165 void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
166 void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
167
173
174 void set_cMe();
179 void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
186
188 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpBiclops &constant);
189};
190
191#endif
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
Definition: vpBiclops.h:78
vpHomogeneousMatrix cMe_
Definition: vpBiclops.h:137
static const float h
Definition: vpBiclops.h:129
static const float speedLimit
Definition: vpBiclops.h:133
void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel m=vpBiclops::DH1)
Definition: vpBiclops.h:185
static const float tiltJointLimit
Definition: vpBiclops.h:132
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpBiclops.h:179
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:157
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
Definition: vpBiclops.h:172
virtual ~vpBiclops()
Definition: vpBiclops.h:142
static const float panJointLimit
Definition: vpBiclops.h:131
DenavitHartenbergModel
Definition: vpBiclops.h:120
DenavitHartenbergModel dh_model_
Definition: vpBiclops.h:136
static const unsigned int ndof
Definition: vpBiclops.h:126
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152