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vpPtu46.h
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/****************************************************************************
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*
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* $Id: vpPtu46.h 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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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://www.irisa.fr/lagadic/visp/visp.html 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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* http://www.irisa.fr/lagadic
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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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*
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* Description:
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* Interface for the ptu-46 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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#include <visp/vpConfig.h>
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#ifndef __vpPtu46_H
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#define __vpPtu46_H
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/* ----------------------------------------------------------------------- */
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/* --- INCLUDES -------------------------------------------------------- */
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/* --------------------------------------------------------------------- */
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/* --- GENERAL --- */
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#include <iostream>
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/* --- ViSP --- */
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#include <visp/vpConfig.h>
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#include <visp/vpMatrix.h>
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#include <visp/vpHomogeneousMatrix.h>
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#include <visp/vpPoseVector.h>
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#include <visp/vpMath.h>
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#include <visp/vpRxyzVector.h>
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#include <visp/vpTranslationVector.h>
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#include <visp/vpVelocityTwistMatrix.h>
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class
VISP_EXPORT
vpPtu46
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{
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public
:
/* Constants */
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static
const
unsigned
int
ndof
;
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static
const
float
L
;
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static
const
float
h
;
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public
:
/* Methodes publiques */
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vpPtu46
(
void
);
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void
init (
void
);
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void
computeMGD (
const
vpColVector
&q,
vpHomogeneousMatrix
& fMc);
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vpHomogeneousMatrix
computeMGD (
const
vpColVector
& q);
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void
computeMGD (
const
vpColVector
& q,
vpPoseVector
& r);
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void
get_cMe(
vpHomogeneousMatrix
&_cMe) ;
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void
get_cVe(
vpVelocityTwistMatrix
&_cVe) ;
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void
get_eJe(
const
vpColVector
&q,
vpMatrix
&eJe);
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void
get_fJe(
const
vpColVector
&q,
vpMatrix
&fJe);
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friend
VISP_EXPORT std::ostream & operator << (std::ostream & os,
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const
vpPtu46
& constant);
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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
src
robot
real-robot
ptu46
vpPtu46.h
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