Visual Servoing Platform version 3.6.0
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vpPtu46.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 ptu-46 robot.
33 *
34*****************************************************************************/
35
36#ifndef _vpPtu46_h_
37#define _vpPtu46_h_
38
39/* ----------------------------------------------------------------------- */
40/* --- INCLUDES -------------------------------------------------------- */
41/* --------------------------------------------------------------------- */
42
43/* --- GENERAL --- */
44#include <iostream>
45
46/* --- ViSP --- */
47#include <visp3/core/vpConfig.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpMatrix.h>
50#include <visp3/core/vpPoseVector.h>
51
52#include <visp3/core/vpMath.h>
53#include <visp3/core/vpRxyzVector.h>
54#include <visp3/core/vpTranslationVector.h>
55#include <visp3/core/vpVelocityTwistMatrix.h>
56
70class VISP_EXPORT vpPtu46
71{
72
73public: /* Constants */
75 static const unsigned int ndof;
78 static const float L;
79 static const float h;
80
81public: /* Methodes publiques */
82 vpPtu46(void);
84 virtual ~vpPtu46(){};
85
88 void init(void);
89
90 void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
91 vpHomogeneousMatrix computeMGD(const vpColVector &q) const;
92 void computeMGD(const vpColVector &q, vpPoseVector &r) const;
93
94 void get_cMe(vpHomogeneousMatrix &_cMe) const;
95 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
96 void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
97 void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
98
100 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPtu46 &constant);
101};
102
103#endif
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.
Definition vpMatrix.h:152
Implementation of a pose vector and operations on poses.
Jacobian, geometric model functionalities... for ptu46, pan, tilt head from Directed Perception.
Definition vpPtu46.h:71
static const float L
Definition vpPtu46.h:78
static const unsigned int ndof
Definition vpPtu46.h:75
virtual ~vpPtu46()
Definition vpPtu46.h:84
static const float h
Definition vpPtu46.h:79