/*!
Get the twist matrix corresponding to the transformation between the
camera frame and the end effector frame. The end effector frame is located on
the tilt axis.
\param cVe : Twist transformation between camera and end effector frame to
expess a velocity skew from end effector frame in camera frame.
*/
void
vpRobotPtu46::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
vpPtu46::get_cMe(cMe) ;
cVe.buildFrom(cMe) ;
}
/*!
Get the twist matrix corresponding to the transformation between the
camera frame and the end effector frame. The end effector frame is located on
the tilt axis.
\param cVe : Twist transformation between camera and end effector frame to
expess a velocity skew from end effector frame in camera frame.
*/
void
vpBiclops::get_cVe(vpVelocityTwistMatrix &cVe)
{
vpHomogeneousMatrix cMe ;
get_cMe(cMe) ;
cVe.buildFrom(cMe) ;
}
/*!
Get the twist transformation from camera frame to end-effector
frame. This transformation allows to compute a velocity expressed
in the end-effector frame into the camera frame.
\param cVe : Twist transformation.
*/
void
vpAfma4::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
get_cMe(cMe) ;
cVe.buildFrom(cMe) ;
return;
}
/*!
Get the twist transformation from camera frame to the reference
frame. This transformation allows to compute a velocity expressed
in the reference frame into the camera frame.
\param q : Articular position of the four joints: q[0] corresponds to
the first rotation (joint 1 with value \f$q_1\f$) of the turret
around the vertical axis, while q[1] corresponds to the vertical
translation (joint 2 with value \f$q_2\f$), while q[2] and q[3]
correspond to the pan and tilt of the camera (respectively joint 4
and 5 with values \f$q_4\f$ and \f$q_5\f$). Rotations q[0], q[2] and
q[3] are expressed in radians. The translation q[1] is expressed in
meters.
\param cVf : Twist transformation.
*/
void
vpAfma4::get_cVf(const vpColVector & q, vpVelocityTwistMatrix &cVf) const
{
vpHomogeneousMatrix fMc, cMf ;
get_fMc(q, fMc) ;
cMf = fMc.inverse();
cVf.buildFrom(cMf) ;
return;
}
/*!
Get the twist matrix corresponding to the transformation between the
camera frame and the end effector frame. The end effector frame is located on
the tilt axis.
\param cVe : Twist transformation between camera and end effector frame to
expess a velocity skew from end effector frame in camera frame.
*/
void
vpBiclops::get_cVe(vpVelocityTwistMatrix &cVe)
{
cVe.buildFrom(cMe_) ;
}
