Visual Servoing Platform version 3.6.0
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vpAfma4.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 Irisa's Afma4 robot.
33 *
34*****************************************************************************/
35
36#ifndef _vpAfma4_h
37#define _vpAfma4_h
38
101#include <visp3/core/vpCameraParameters.h>
102#include <visp3/core/vpHomogeneousMatrix.h>
103#include <visp3/core/vpImage.h>
104#include <visp3/core/vpRGBa.h>
105#include <visp3/core/vpVelocityTwistMatrix.h>
106
107class VISP_EXPORT vpAfma4
108{
109public:
110 vpAfma4();
112 virtual ~vpAfma4(){};
113
116 void init(void);
117
118 vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
119 vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
120 void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
121 void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
122
123 void get_cMe(vpHomogeneousMatrix &cMe) const;
124 void get_cVe(vpVelocityTwistMatrix &cVe) const;
125 void get_cVf(const vpColVector &q, vpVelocityTwistMatrix &cVf) const;
126 void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
127 void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
128 void get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) const;
129
130 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpAfma4 &afma4);
131
132 vpColVector getJointMin() const;
133 vpColVector getJointMax() const;
135
136public:
137 static const unsigned int njoint;
138
139protected:
140 // Denavit Hartenberg parameters
141 double _a1; // distance along x2
142 double _d3; // distance along z2
143 double _d4; // distance along z3
144 double _joint_max[4]; // Maximal value of the joints
145 double _joint_min[4]; // Minimal value of the joints
146
147 // Minimal representation of _eMc
150
151 vpHomogeneousMatrix _eMc; // Camera extrinsic parameters: effector to camera
152};
153
154/*
155 * Local variables:
156 * c-basic-offset: 2
157 * End:
158 */
159
160#endif
Modelisation of Irisa's cylindrical robot named Afma4.
Definition vpAfma4.h:108
double _d3
Definition vpAfma4.h:142
vpTranslationVector _etc
Definition vpAfma4.h:148
static const unsigned int njoint
Number of joint.
Definition vpAfma4.h:137
vpRxyzVector _erc
Definition vpAfma4.h:149
double _a1
Definition vpAfma4.h:141
double _d4
Definition vpAfma4.h:143
vpHomogeneousMatrix _eMc
Definition vpAfma4.h:151
virtual ~vpAfma4()
Definition vpAfma4.h:112
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 rotation vector as Euler angle minimal representation.
Class that consider the case of a translation vector.