Visual Servoing Platform version 3.5.0
vpAfma4.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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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.
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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 Irisa's Afma4 robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef _vpAfma4_h
40#define _vpAfma4_h
41
104#include <visp3/core/vpCameraParameters.h>
105#include <visp3/core/vpHomogeneousMatrix.h>
106#include <visp3/core/vpImage.h>
107#include <visp3/core/vpRGBa.h>
108#include <visp3/core/vpVelocityTwistMatrix.h>
109
110class VISP_EXPORT vpAfma4
111{
112public:
113 vpAfma4();
115 virtual ~vpAfma4(){};
116
119 void init(void);
120
121 vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
122 /* int getInverseKinematics(const vpHomogeneousMatrix & fMc, */
123 /* vpColVector & q, const bool &nearest=true); */
124 vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
125 void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
126 void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
127
128 void get_cMe(vpHomogeneousMatrix &cMe) const;
129 void get_cVe(vpVelocityTwistMatrix &cVe) const;
130 void get_cVf(const vpColVector &q, vpVelocityTwistMatrix &cVf) const;
131 void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
132 void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
133 void get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) const;
134
135 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpAfma4 &afma4);
136
137 vpColVector getJointMin() const;
138 vpColVector getJointMax() const;
140
141public:
142 static const unsigned int njoint;
143
144protected:
145 // Denavit Hartenberg parameters
146 double _a1; // distance along x2
147 double _d3; // distance along z2
148 double _d4; // distance along z3
149 double _joint_max[4]; // Maximal value of the joints
150 double _joint_min[4]; // Minimal value of the joints
151
152 // Minimal representation of _eMc
155
156 vpHomogeneousMatrix _eMc; // Camera extrinsic parameters: effector to camera
157};
158
159/*
160 * Local variables:
161 * c-basic-offset: 2
162 * End:
163 */
164
165#endif
Modelisation of Irisa's cylindrical robot named Afma4.
Definition: vpAfma4.h:111
double _d3
Definition: vpAfma4.h:147
vpTranslationVector _etc
Definition: vpAfma4.h:153
static const unsigned int njoint
Number of joint.
Definition: vpAfma4.h:142
vpRxyzVector _erc
Definition: vpAfma4.h:154
double _a1
Definition: vpAfma4.h:146
double _d4
Definition: vpAfma4.h:148
vpHomogeneousMatrix _eMc
Definition: vpAfma4.h:156
virtual ~vpAfma4()
Definition: vpAfma4.h:115
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 rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
Class that consider the case of a translation vector.