/usr/include/visp/vpPtu46.h is in libvisp-dev 2.9.0-3+b2.
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*
* $Id: vpPtu46.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Interface for the ptu-46 robot.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpConfig.h>
#ifndef __vpPtu46_H
#define __vpPtu46_H
/* ----------------------------------------------------------------------- */
/* --- INCLUDES -------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --- GENERAL --- */
#include <iostream>
/* --- ViSP --- */
#include <visp/vpConfig.h>
#include <visp/vpMatrix.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpPoseVector.h>
#include <visp/vpMath.h>
#include <visp/vpRxyzVector.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpVelocityTwistMatrix.h>
/*!
\class vpPtu46
\ingroup Ptu46
\brief Jacobian, geometric model functionnalities... for ptu46, pan, tilt
head from Directed Perception.
See http://www.DPerception.com for more details.
*/
class VISP_EXPORT vpPtu46
{
public: /* Constants */
/** Nombre d'articulations du robot. */
static const unsigned int ndof; /*!< Number of dof */
/** Geometric model */
static const float L;
static const float h;
public: /* Methodes publiques */
vpPtu46 (void);
/*! Destructor that does nothing. */
virtual ~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;
friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpPtu46 & constant);
};
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
#endif
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