vpPtu46 Class Reference

#include <vpPtu46.h>

Inheritance diagram for vpPtu46:

Public Member Functions
	vpPtu46 (void)
virtual	~vpPtu46 ()

Static Public Attributes
static const unsigned int	ndof = 2
static const float	L = 0.0765f
static const float	h = 0.068f

Inherited functionalities from vpPtu46
void	init (void)
void	computeMGD (const vpColVector &q, vpHomogeneousMatrix &fMc) const
vpHomogeneousMatrix	computeMGD (const vpColVector &q) const
void	computeMGD (const vpColVector &q, vpPoseVector &r) const
void	get_cMe (vpHomogeneousMatrix &_cMe) const
void	get_cVe (vpVelocityTwistMatrix &_cVe) const
void	get_eJe (const vpColVector &q, vpMatrix &eJe) const
void	get_fJe (const vpColVector &q, vpMatrix &fJe) const
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpPtu46 &constant)

Detailed Description

Jacobian, geometric model functionalities... for ptu46, pan, tilt head from Directed Perception.

See http://www.DPerception.com for more details.

Definition at line 69 of file vpPtu46.h.

Constructor & Destructor Documentation

vpPtu46()

vpPtu46::vpPtu46

(

void

)

Default constructor. Call init().

Definition at line 153 of file vpPtu46.cpp.

References init().

Referenced by operator<<.

~vpPtu46()

virtual vpPtu46::~vpPtu46 ( )

inlinevirtual

Destructor that does nothing.

Definition at line 83 of file vpPtu46.h.

Member Function Documentation

computeMGD() [1/3]

vpHomogeneousMatrix vpPtu46::computeMGD

(

const vpColVector &

q

)

const

Return the direct geometric model of the camera: fMc

Parameters

q	: Articular position for pan and tilt axis.

Returns

fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 116 of file vpPtu46.cpp.

References computeMGD().

computeMGD() [2/3]

void vpPtu46::computeMGD	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc ) const

Compute the direct geometric model of the camera: fMc

Parameters

q	: Articular position for pan and tilt axis.
fMc	: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 66 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), h, L, vpCDEBUG, and vpERROR_TRACE.

Referenced by computeMGD(), and computeMGD().

computeMGD() [3/3]

void vpPtu46::computeMGD	(	const vpColVector &	q,
		vpPoseVector &	r ) const

Compute the direct geometric model of the camera in terms of pose vector.

Parameters

q	: Articular position for pan and tilt axis.
r	: Pose vector corresponding to the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 134 of file vpPtu46.cpp.

References computeMGD(), and vpHomogeneousMatrix::inverse().

get_cMe()

void vpPtu46::get_cMe

(

vpHomogeneousMatrix &

cMe

)

const

Get the homogeneous matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters

cMe	: Homogeneous matrix between camera and end effector frame.

Definition at line 206 of file vpPtu46.cpp.

References h, vpHomogeneousMatrix::inverse(), and L.

Referenced by vpRobotPtu46::get_cMe(), get_cVe(), and vpRobotPtu46::get_cVe().

get_cVe()

void vpPtu46::get_cVe

(

vpVelocityTwistMatrix &

cVe

)

const

Get the twist matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters

cVe	: Twist transformation between camera and end effector frame to express a velocity skew from end effector frame in camera frame.

Definition at line 189 of file vpPtu46.cpp.

References vpVelocityTwistMatrix::buildFrom(), and get_cMe().

get_eJe()

void vpPtu46::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe ) const

Get the robot jacobian expressed in the end-effector frame.

Warning

Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).

Parameters

q	: Articular position for pan and tilt axis.
eJe	: Jacobian between end effector frame and end effector frame (on tilt axis).

Definition at line 245 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpERROR_TRACE.

Referenced by vpRobotPtu46::get_eJe().

get_fJe()

void vpPtu46::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe ) const

Get the robot jacobian expressed in the robot reference frame

Parameters

q	: Articular position for pan and tilt axis.
fJe	: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Definition at line 274 of file vpPtu46.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpERROR_TRACE.

Referenced by vpRobotPtu46::get_fJe().

init()

void vpPtu46::init

(

void

)

Initialization. Here nothing to do.

Definition at line 162 of file vpPtu46.cpp.

Referenced by vpPtu46().

Friends And Related Symbol Documentation

operator<<

VISP_EXPORT std::ostream & operator<< ( std::ostream & os, const vpPtu46 & constant )

friend

Definition at line 168 of file vpPtu46.cpp.

References h, L, operator<<, and vpPtu46().

Referenced by operator<<.

Member Data Documentation

h

const float vpPtu46::h = 0.068f

static

Horizontal offset along the last joint, from last joint to camera frame. Vertical offset from last joint to camera frame.

Definition at line 78 of file vpPtu46.h.

Referenced by computeMGD(), get_cMe(), and operator<<.

L

const float vpPtu46::L = 0.0765f

static

Geometric model

Definition at line 77 of file vpPtu46.h.

Referenced by computeMGD(), get_cMe(), and operator<<.

ndof

BEGIN_VISP_NAMESPACE const unsigned int vpPtu46::ndof = 2

static

Nombre d'articulations du robot. Number of dof

Pan and tilt are considered.

Definition at line 74 of file vpPtu46.h.

Referenced by vpRobotPtu46::getDisplacement(), vpRobotPtu46::getPosition(), vpRobotPtu46::getVelocity(), and vpRobotPtu46::readPositionFile().