45 #include <visp3/robot/vpPtu46.h> 46 #include <visp3/core/vpDebug.h> 47 #include <visp3/robot/vpRobotException.h> 52 #include <visp3/core/vpMath.h> 93 fMc[0][3] = -
h*c1*s2 -
L*s1;
98 fMc[1][3] = -
h*s1*s2 +
L*c1;
110 vpCDEBUG (6) <<
"Position de la camera: " << std::endl << fMc;
193 <<
"Geometric parameters: " << std::endl
283 double s2 = sin(q[1]) ;
284 double c2 = cos(q[1]) ;
313 double s1 = sin(q[0]) ;
314 double c1 = cos(q[0]) ;
Implementation of a matrix and operations on matrices.
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpPtu46 &constant)
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void get_cMe(vpHomogeneousMatrix &_cMe) 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 unsigned int ndof
void get_cVe(vpVelocityTwistMatrix &_cVe) const
void computeMGD(const vpColVector &q, vpHomogeneousMatrix &fMc) const
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Implementation of a velocity twist matrix and operations on such kind of matrices.
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception...
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