49 #include <visp/vpPtu46.h>
50 #include <visp/vpDebug.h>
51 #include <visp/vpRobotException.h>
56 #include <visp/vpMath.h>
101 fMc[0][3] = -
h*c1*s2 -
L*s1;
106 fMc[1][3] = -
h*s1*s2 +
L*c1;
118 vpCDEBUG (6) <<
"Position de la camera: " << std::endl << fMc;
203 <<
"Geometric parameters: " << std::endl
293 double s2 = sin(q[1]) ;
294 double c2 = cos(q[1]) ;
324 double s1 = sin(q[0]) ;
325 double c1 = cos(q[0]) ;