44 #include <visp3/robot/vpBiclops.h> 45 #include <visp3/core/vpDebug.h> 46 #include <visp3/robot/vpRobotException.h> 47 #include <visp3/core/vpMath.h> 81 vpCDEBUG (6) <<
"camera position: " << std::endl << fMc;
102 vpCDEBUG (6) <<
"camera position: " << std::endl << fMc;
313 <<
"Geometric parameters: " << std::endl
394 double s2 = sin(q[1]) ;
395 double c2 = cos(q[1]) ;
434 double s1 = sin(q[0]) ;
435 double c1 = cos(q[0]) ;
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
vpHomogeneousMatrix get_fMe(const vpColVector &q) const
Implementation of a matrix and operations on matrices.
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
static const unsigned int ndof
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const float tiltJointLimit
static const float speedLimit
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
error that can be emited by ViSP classes.
unsigned int getRows() const
Return the number of rows of the 2D array.
vpHomogeneousMatrix inverse() const
static const float panJointLimit
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
DenavitHartenbergModel dh_model_
void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const
Implementation of a velocity twist matrix and operations on such kind of matrices.
void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const
void get_cVe(vpVelocityTwistMatrix &_cVe) const
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpBiclops &constant)
Implementation of column vector and the associated operations.
Implementation of a pose vector and operations on poses.
vpPoseVector buildFrom(const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)
void get_fJe(const vpColVector &q, vpMatrix &fJe) const