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vpAfma4.h
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/****************************************************************************
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*
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* $Id: vpAfma4.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 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 <visp/vpHomogeneousMatrix.h>
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#include <visp/vpImage.h>
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#include <visp/vpRGBa.h>
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#include <visp/vpCameraParameters.h>
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#include <visp/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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void
init (
void
);
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vpHomogeneousMatrix
getForwardKinematics(
const
vpColVector
& q);
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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);
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void
get_fMe(
const
vpColVector
& q,
vpHomogeneousMatrix
& fMe);
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void
get_fMc(
const
vpColVector
& q,
vpHomogeneousMatrix
& fMc);
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void
get_cMe(
vpHomogeneousMatrix
&cMe) ;
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void
get_cVe(
vpVelocityTwistMatrix
&cVe) ;
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void
get_cVf(
const
vpColVector
& q,
vpVelocityTwistMatrix
&cVf);
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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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void
get_fJe_inverse(
const
vpColVector
&q,
vpMatrix
&fJe_inverse) ;
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friend
VISP_EXPORT std::ostream & operator << (std::ostream & os,
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const
vpAfma4
& afma4);
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vpColVector
getJointMin();
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vpColVector
getJointMax();
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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
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src
robot
real-robot
afma4
vpAfma4.h
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