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Visual Servoing Platform
version 3.3.0
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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
@ dimensionError
Bad dimension.
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
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Implementation of a pose vector and operations on poses.
vpPoseVector buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz)
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void get_cVe(vpVelocityTwistMatrix &_cVe) const
vpHomogeneousMatrix inverse() const
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