Visual Servoing Platform
version 3.3.0
vpAfma4.h
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Interface for the Irisa's Afma4 robot.
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*
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* Authors:
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef _vpAfma4_h
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#define _vpAfma4_h
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#include <visp3/core/vpCameraParameters.h>
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#include <visp3/core/vpHomogeneousMatrix.h>
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#include <visp3/core/vpImage.h>
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#include <visp3/core/vpRGBa.h>
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#include <visp3/core/vpVelocityTwistMatrix.h>
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class
VISP_EXPORT
vpAfma4
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{
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public
:
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vpAfma4
();
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virtual
~vpAfma4
(){};
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void
init(
void
);
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vpHomogeneousMatrix
getForwardKinematics(
const
vpColVector
&q)
const
;
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/* int getInverseKinematics(const vpHomogeneousMatrix & fMc, */
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/* vpColVector & q, const bool &nearest=true); */
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vpHomogeneousMatrix
get_fMc(
const
vpColVector
&q)
const
;
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void
get_fMe(
const
vpColVector
&q,
vpHomogeneousMatrix
&fMe)
const
;
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void
get_fMc(
const
vpColVector
&q,
vpHomogeneousMatrix
&fMc)
const
;
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void
get_cMe(
vpHomogeneousMatrix
&cMe)
const
;
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void
get_cVe(
vpVelocityTwistMatrix
&cVe)
const
;
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void
get_cVf(
const
vpColVector
&q,
vpVelocityTwistMatrix
&cVf)
const
;
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void
get_eJe(
const
vpColVector
&q,
vpMatrix
&eJe)
const
;
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void
get_fJe(
const
vpColVector
&q,
vpMatrix
&fJe)
const
;
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void
get_fJe_inverse(
const
vpColVector
&q,
vpMatrix
&fJe_inverse)
const
;
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friend
VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const
vpAfma4
&afma4);
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vpColVector
getJointMin()
const
;
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vpColVector
getJointMax()
const
;
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public
:
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static
const
unsigned
int
njoint
;
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protected
:
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// Denavit Hartenberg parameters
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double
_a1
;
// distance along x2
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double
_d3
;
// distance along z2
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double
_d4
;
// distance along z3
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double
_joint_max[4];
// Maximal value of the joints
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double
_joint_min[4];
// Minimal value of the joints
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// Minimal representation of _eMc
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vpTranslationVector
_etc
;
// meters
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vpRxyzVector
_erc
;
// radian
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vpHomogeneousMatrix
_eMc
;
// Camera extrinsic parameters: effector to camera
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};
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/*
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* Local variables:
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* c-basic-offset: 2
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* End:
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*/
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#endif
vpAfma4::_d4
double _d4
Definition:
vpAfma4.h:148
vpAfma4
Modelisation of Irisa's cylindrical robot named Afma4.
Definition:
vpAfma4.h:111
vpAfma4::~vpAfma4
virtual ~vpAfma4()
Definition:
vpAfma4.h:115
vpAfma4::_eMc
vpHomogeneousMatrix _eMc
Definition:
vpAfma4.h:156
vpAfma4::_erc
vpRxyzVector _erc
Definition:
vpAfma4.h:154
vpTranslationVector
Class that consider the case of a translation vector.
Definition:
vpTranslationVector.h:120
vpColVector
Implementation of column vector and the associated operations.
Definition:
vpColVector.h:131
vpAfma4::njoint
static const unsigned int njoint
Number of joint.
Definition:
vpAfma4.h:142
vpMatrix
Implementation of a matrix and operations on matrices.
Definition:
vpMatrix.h:165
vpAfma4::_etc
vpTranslationVector _etc
Definition:
vpAfma4.h:153
vpAfma4::_a1
double _a1
Definition:
vpAfma4.h:146
vpVelocityTwistMatrix
Definition:
vpVelocityTwistMatrix.h:167
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition:
vpHomogeneousMatrix.h:150
vpAfma4::_d3
double _d3
Definition:
vpAfma4.h:147
vpRxyzVector
Implementation of a rotation vector as Euler angle minimal representation.
Definition:
vpRxyzVector.h:184
modules
robot
include
visp3
robot
vpAfma4.h
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