void
vpServo::setServo(vpServoType _servoType)
{
servoType = _servoType ;
if ((servoType==EYEINHAND_CAMERA) ||(servoType==EYEINHAND_L_cVe_eJe))
signInteractionMatrix = 1 ;
else
signInteractionMatrix = -1 ;
// when the control is directly compute in the camera frame
// we relieve the end-user to initialize cVa and aJe
if (servoType==EYEINHAND_CAMERA)
{
vpVelocityTwistMatrix _cVe ; set_cVe(_cVe) ;
vpMatrix _eJe ;
_eJe.eye(6) ;
set_eJe(_eJe) ;
};
}
void HandTask::setBaseToMarkerTwist(const vpHomogeneousMatrix& torsoBaseToHand)
{
set_cVe(const_cast<vpHomogeneousMatrix&>(torsoBaseToHand)); //implicit construction of a vpVelocityTwistMatrix
}