/usr/include/visp/vpAfma4.h is in libvisp-dev 2.8.0-4.
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*
* $Id: vpAfma4.h 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 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 Irisa's Afma4 robot.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#ifndef __vpAfma4_h
#define __vpAfma4_h
/*!
\file vpAfma4.h
Modelisation of Irisa's cylindrical robot named Afma4.
*/
/*!
\class vpAfma4
\ingroup Afma4
\brief Modelisation of Irisa's cylindrical robot named Afma4.
This robot has five degrees of freedom, but only four motorized
joints (joint 3 is not motorized). Joint 2 and 3 are prismatic. The
other ones are revolute joints.
The non modified Denavit-Hartenberg representation of the robot is
given in the table below, where \f$q_1^*, q_2^*,q_4^*, q_5^*\f$
are the variable joint positions.
\f[
\begin{tabular}{|c|c|c|c|c|}
\hline
Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\
\hline
1 & 0 & 0 & 0 & $q_1^*$ \\
2 & $a_1$ & $q_2^*$ & $-\pi/2$ & 0 \\
3 & 0 & $d_3$ & $\pi/2$ & 0 \\
4 & 0 & $d_4$ & $-\pi/2$ & $q_4^*-\pi/2$ \\
5 & 0 & 0 & 0 & $q_5^*$ \\
\hline
\end{tabular}
\f]
The forward kinematics of the robot is given by the homogeneous
matrix \f${^f}M_e\f$ which is implemented in get_fMe().
\f[
{^f}M_e = \left[\begin{array}{cccc}
c_1s_4c_5+s_1c_4c_5 & -c_1s_4s_5-s_1c_4s_5 & c_1c_4-s_1s_4 &a_1c_1-d_3s_1 \\
s_1s_4c_5-c_1c_4c_5 & -s_1s_4s_5+c_1c_4s_5 & s_1c_4+c_1s_4 &a_1s_1+d_3c_1 \\
-s_5 & -c_5 & d_4+q_2 \\
0 & 0 & 0 & 1 \\
\end{array}
\right]
\f]
The robot forward jacobian used to compute the cartesian velocities
from joint ones is given and implemented in get_fJe() and
get_eJe().
The robot inverse jacobian used to compute the joint velocities from
cartesian ones are given and implemented in get_fJe_inverse().
*/
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpRGBa.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpVelocityTwistMatrix.h>
class VISP_EXPORT vpAfma4
{
public:
vpAfma4();
void init (void);
vpHomogeneousMatrix getForwardKinematics(const vpColVector & q);
/* int getInverseKinematics(const vpHomogeneousMatrix & fMc, */
/* vpColVector & q, const bool &nearest=true); */
vpHomogeneousMatrix get_fMc (const vpColVector & q);
void get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe);
void get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc);
void get_cMe(vpHomogeneousMatrix &cMe) ;
void get_cVe(vpVelocityTwistMatrix &cVe) ;
void get_cVf(const vpColVector & q, vpVelocityTwistMatrix &cVf);
void get_eJe(const vpColVector &q, vpMatrix &eJe) ;
void get_fJe(const vpColVector &q, vpMatrix &fJe) ;
void get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) ;
friend VISP_EXPORT std::ostream & operator << (std::ostream & os,
const vpAfma4 & afma4);
vpColVector getJointMin();
vpColVector getJointMax();
public:
static const unsigned int njoint; ///< Number of joint.
protected:
// Denavit Hartenberg parameters
double _a1; // distance along x2
double _d3; // distance along z2
double _d4; // distance along z3
double _joint_max[4]; // Maximal value of the joints
double _joint_min[4]; // Minimal value of the joints
// Minimal representation of _eMc
vpTranslationVector _etc; // meters
vpRxyzVector _erc; // radian
vpHomogeneousMatrix _eMc; // Camera extrinsic parameters: effector to camera
};
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
#endif
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