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Visual Servoing Platform
version 3.2.0
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43 #include <visp3/core/vpDebug.h>
44 #include <visp3/robot/vpPtu46.h>
45 #include <visp3/robot/vpRobotException.h>
49 #include <visp3/core/vpMath.h>
88 fMc[0][3] = -
h * c1 * s2 -
L * s1;
93 fMc[1][3] = -
h * s1 * s2 +
L * c1;
105 vpCDEBUG(6) <<
"Position de la camera: " << std::endl << fMc;
174 os <<
"Geometric parameters: " << std::endl
259 double s2 = sin(q[1]);
260 double c2 = cos(q[1]);
288 double s1 = sin(q[0]);
289 double c1 = cos(q[0]);
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
vpPoseVector buildFrom(const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception.
Implementation of column vector and the associated operations.
void get_cMe(vpHomogeneousMatrix &_cMe) const
Implementation of a matrix and operations on matrices.
static const unsigned int ndof
Implementation of a pose vector and operations on poses.
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void get_cVe(vpVelocityTwistMatrix &_cVe) const
vpHomogeneousMatrix inverse() const
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
error that can be emited by ViSP classes.
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const
unsigned int getRows() const