/*! Compute the direct geometric model of the camera in terms of pose vector. \param q : Articular position for pan and tilt axis. \param r : Pose vector corresponding to the transformation between the robot reference frame (called fixed) and the camera frame. */ void vpPtu46::computeMGD (const vpColVector & q, vpPoseVector & r) { vpHomogeneousMatrix fMc; computeMGD (q, fMc); r.buildFrom(fMc.inverse()); return ; }
void vpBiclops::get_fMc (const vpColVector &q, vpPoseVector &fvc) { vpHomogeneousMatrix fMc; get_fMc (q, fMc); fvc.buildFrom(fMc.inverse()); return ; }