/*!
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
vpPtu46::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;
}
