Fix previous commit

CMakeLists.txt

@@ -520,7 +520,7 @@ VP_OPTION(USE_PYLON       Pylon       ""    "Include Pylon SDK support for Basle
 VP_OPTION(USE_UEYE        Ueye        ""    "Include uEye SDK support for IDS cameras" "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_COMEDI      Comedi      ""    "Include comedi (linux control and measurement device interface) support" "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_FTIITSDK    FTIITSDK    ""    "Include IIT force-torque SDK support" "" ON IF NOT WINRT AND NOT IOS)
-VP_OPTION(USE_BICLOPS     BICLOPS     ""    "Include biclops support"          "" ON IF NOT WINRT AND NOT IOS)
+VP_OPTION(USE_BICLOPS     BICLOPS     ""    "Include Biclops support"          "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_PTU46       PTU46       ""    "Include ptu-46 support"           "" ON IF UNIX AND NOT WINRT AND NOT IOS)
 VP_OPTION(USE_FLIRPTUSDK  FlirPtuSDK  ""    "Include Flir PTU SDK support"     "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_CMU1394     CMU1394     ""    "Include cmu1494 support"          "" ON IF WIN32 AND NOT WINRT AND NOT IOS)

ChangeLog.txt

@@ -957,7 +957,7 @@ ViSP 2.6.2 (released July 15, 2012)
        To be able to consider other user defined features the compiler should
        be compatible with C++ 11 standard.
   - Improvements
-     - Introduce a new Denavit Hartenberg representation of the Biclops head
+     - Introduce a new Denavit-Hartenberg representation of the Biclops head
        in vpBiclops.
      - Compatibility with g++ 4.7 and OpenCV 2.3.1, 2.4.0, 2.4.1
      - Remove warning detected with Visual C++ /Wall flag

example/servo-biclops/moveBiclops.cpp

@@ -35,7 +35,7 @@
  * \file moveBiclops.cpp
  * \example moveBiclops.cpp
  *
- * Example of a real robot control, the biclops robot (pan-tilt turret) by
+ * Example of a real robot control, the Biclops robot (pan-tilt turret) by
  * Traclabs. The robot is controlled first in position, then in velocity.
  *
  * See http://www.traclabs.com/tracbiclops.htm for more details.
@@ -63,7 +63,7 @@
 void usage(const char *name, const char *badparam, std::string conf)
 {
   fprintf(stdout, "\n\
-Move the biclops robot\n\
+Move the Biclops robot\n\
 \n\
 SYNOPSIS\n\
   %s [-c <Biclops configuration file>] [-h]\n\
@@ -73,7 +73,7 @@ name);
   fprintf(stdout, "\n\
 OPTIONS:                                               Default\n\
   -c <Biclops configuration file>                      %s\n\
-     Sets the biclops robot configuration file.\n\n",
+     Sets the Biclops robot configuration file.\n\n",
           conf.c_str());
 
   if (badparam) {
@@ -270,7 +270,7 @@ int main(int argc, const char **argv)
 #else
 int main()
 {
-  std::cout << "You do not have an biclops PT robot connected to your computer..." << std::endl;
+  std::cout << "You do not have an Biclops PT robot connected to your computer..." << std::endl;
   return EXIT_SUCCESS;
 }
 

example/servo-biclops/servoBiclopsPoint2DArtVelocity.cpp

@@ -38,7 +38,7 @@
  * \example servoBiclopsPoint2DArtVelocity.cpp
  *
  * Example of eye-in-hand control law. We control here a real robot, the
- * biclops robot (pan-tilt head provided by Traclabs). The velocity is computed
+ * Biclops robot (pan-tilt head provided by Traclabs). The velocity is computed
  * in articular. The visual feature is the center of gravity of a point.
  */
 
@@ -90,7 +90,7 @@ SYNOPSIS\n\
   fprintf(stdout, "\n\
 OPTIONS:                                               Default\n\
   -c <Biclops configuration file>                      %s\n\
-     Sets the biclops robot configuration file.\n",
+     Sets the Biclops robot configuration file.\n",
           conf.c_str());
 
   if (badparam) {
@@ -338,7 +338,7 @@ int main(int argc, const char **argv)
 #else
 int main()
 {
-  std::cout << "You do not have an biclops PT robot connected to your computer..." << std::endl;
+  std::cout << "You do not have an Biclops PT robot connected to your computer..." << std::endl;
   return EXIT_SUCCESS;
 }
 #endif

example/servo-pioneer/servoPioneerPanSegment3D.cpp

@@ -103,7 +103,7 @@ int main(int argc, char **argv)
     double qm_pan = 0; // Measured pan position (tilt is not handled in that example)
 
 #ifdef USE_REAL_ROBOT
-    // Initialize the biclops head
+    // Initialize the Biclops head
 
     vpRobotBiclops biclops("/usr/share/BiclopsDefault.cfg");
     biclops.setDenavitHartenbergModel(vpBiclops::DH1);
@@ -158,7 +158,7 @@ int main(int argc, char **argv)
 #endif
 
     vpPioneerPan robot_pan; // Generic robot that computes the velocities for
-                            // the pioneer and the biclops head
+                            // the pioneer and the Biclops head
 
     // Camera parameters. In this experiment we don't need a precise
     // calibration of the camera
@@ -379,7 +379,7 @@ int main(int argc, char **argv)
 
         std::cout << "Send velocity to the pionner: " << v_pioneer[0] << " m/s " << vpMath::deg(v_pioneer[1])
                   << " deg/s" << std::endl;
-        std::cout << "Send velocity to the biclops head: " << vpMath::deg(v_biclops[0]) << " deg/s" << std::endl;
+        std::cout << "Send velocity to the Biclops head: " << vpMath::deg(v_biclops[0]) << " deg/s" << std::endl;
 
         pioneer.setVelocity(vpRobot::REFERENCE_FRAME, v_pioneer);
         biclops.setVelocity(vpRobot::ARTICULAR_FRAME, v_biclops);

modules/robot/include/visp3/robot/vpAfma4.h

@@ -137,7 +137,7 @@ class VISP_EXPORT vpAfma4
   static const unsigned int njoint; ///< Number of joint.
 
 protected:
-  // Denavit Hartenberg parameters
+  // Denavit-Hartenberg parameters
   double _a1;           // distance along x2
   double _d3;           // distance along z2
   double _d4;           // distance along z3

modules/robot/include/visp3/robot/vpBiclops.h

@@ -49,7 +49,7 @@
  * \brief Jacobian, geometric model functionalities... for Biclops, pan, tilt
  * head.
  *
- * Two different Denavit Hartenberg representations of the robot are
+ * Two different Denavit-Hartenberg representations of the robot are
  * implemented. As mentioned in vpBiclops::DenavitHartenbergModel they differ
  * in the orientation of the tilt axis. Use setDenavitHartenbergModel() to
  * select the representation.
@@ -62,7 +62,7 @@ class VISP_EXPORT vpBiclops
 {
 public:
   /*!
-   * Two different Denavit Hartenberg representations of the robot are
+   * Two different Denavit-Hartenberg representations of the robot are
    * implemented. As you can see in the next image, they differ in the orientation of the tilt axis.
    *
    * \image html img-biclops-frames.jpg Biclops PT models
@@ -91,8 +91,8 @@ class VISP_EXPORT vpBiclops
    */
   typedef enum
   {
-    DH1, //!< First Denavit Hartenberg representation.
-    DH2  //!< Second Denavit Hartenberg representation.
+    DH1, //!< First Denavit-Hartenberg representation.
+    DH2  //!< Second Denavit-Hartenberg representation.
   } DenavitHartenbergModel;
 
 public:
@@ -105,12 +105,12 @@ class VISP_EXPORT vpBiclops
   static const float speedLimit;     //!< Pan and tilt axis max velocity in rad/s to perform a displacement
 
 protected:
-  DenavitHartenbergModel m_dh_model; //!< Denavit Hartenberg model
-  vpHomogeneousMatrix m_cMe; //!< Camera frame to end-effector transformation
+  DenavitHartenbergModel m_dh_model; //!< Denavit-Hartenberg model
+  vpHomogeneousMatrix m_cMe; //!< Camera frame to PT end-effector frame transformation
 
 public:
   /*!
-   * Default constructor. Call init() that sets vpBiclops::DH1 Denavit Hartenberg model.
+   * Default constructor. Call init() that sets vpBiclops::DH1 Denavit-Hartenberg model.
    */
   vpBiclops(void);
 
@@ -124,7 +124,7 @@ class VISP_EXPORT vpBiclops
 
   /*!
    * Initialization.
-   * - By default vpBiclops::DH1 Denavit Hartenberg model is selected.
+   * - By default vpBiclops::DH1 Denavit-Hartenberg model is selected.
    * - Initialize also the default \f${^c}{\bf M}_e\f$ transformation calling set_cMe().
    * \f[
    *   {^c}{\bf M}_e = \left(
@@ -197,28 +197,28 @@ class VISP_EXPORT vpBiclops
    * 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
+   * \param[out] cVe : Twist transformation between camera and end effector frame to
    * express a velocity skew from end effector frame in camera frame.
    */
   void get_cVe(vpVelocityTwistMatrix &cVe) const;
 
   /*!
    * Compute the direct geometric model of the camera: fMc
    *
-   * \param q : Joint position for pan and tilt axis.
+   * \param[in] q : Joint position for pan and tilt axis.
    *
-   * \param fMc : Homogeneous matrix corresponding to the direct geometric model
+   * \param[out] fMc : Homogeneous matrix corresponding to the direct geometric model
    * of the camera. Describes the transformation between the robot reference
    * frame (called fixed) and the camera frame.
    */
   void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
 
   /*!
-   * Compute the direct geometric model of the camera: fMc
+   * Compute the direct geometric model of the camera in terms of pose vector.
    *
-   * \param q : Joint position for pan and tilt axis.
+   * \param[in] q : Joint position for pan and tilt axis.
    *
-   * \param fPc : Pose vector corresponding to the direct geometric model
+   * \param[out] fPc : Pose vector corresponding to the direct geometric model
    * of the camera. Describes the transformation between the robot reference
    * frame (called fixed) and the camera frame.
    */
@@ -227,7 +227,7 @@ class VISP_EXPORT vpBiclops
   /*!
    * Return the direct geometric model of the camera: fMc
    *
-   * \param q : Joint position for pan and tilt axis.
+   * \param[in] q : Joint position for pan and tilt axis.
    *
    * \return fMc, the homogeneous matrix corresponding to the direct geometric
    * model of the camera. Describes the transformation between the robot
@@ -238,7 +238,7 @@ class VISP_EXPORT vpBiclops
   /*!
    * Return the direct geometric model of the end effector: fMe
    *
-   * \param q : Joint position for pan and tilt axis.
+   * \param[in] q : Joint position for pan and tilt axis.
    *
    * \return fMe, the homogeneous matrix corresponding to the direct geometric
    * model of the end effector. Describes the transformation between the robot
@@ -252,25 +252,25 @@ class VISP_EXPORT vpBiclops
    * \warning Re is not the embedded camera frame. It corresponds to the frame
    * associated to the tilt axis (see also get_cMe).
    *
-   * \param q : Joint position for pan and tilt axis.
+   * \param[in] q : Joint position for pan and tilt axis.
    *
-   * \param eJe : Jacobian between end effector frame and end effector frame (on
+   * \param[out] eJe : Jacobian between end effector frame and end effector frame (on
    * tilt axis).
    */
   void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
 
   /*!
    * Get the robot jacobian expressed in the robot reference frame
    *
-   * \param q : Joint position for pan and tilt axis.
+   * \param[in] q : Joint position for pan and tilt axis.
    *
-   * \param fJe : Jacobian between reference frame (or fix frame) and end
+   * \param[out] fJe : Jacobian between reference frame (or fix frame) and end
    * effector frame (on tilt axis).
    */
   void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
 
   /*!
-   * Return the Denavit Hartenberg representation used to model the head.
+   * Return the Denavit-Hartenberg representation used to model the head.
    * \sa vpBiclops::DenavitHartenbergModel
    */
   inline vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const { return m_dh_model; }
@@ -300,9 +300,9 @@ class VISP_EXPORT vpBiclops
   void set_cMe(const vpHomogeneousMatrix &cMe) { m_cMe = cMe; }
 
   /*!
-   * Set the Denavit Hartenberg representation used to model the head.
+   * Set the Denavit-Hartenberg representation used to model the head.
    *
-   * \param[in] dh_model : Denavit Hartenberg model. \sa vpBiclops::DenavitHartenbergModel
+   * \param[in] dh_model : Denavit-Hartenberg model. \sa vpBiclops::DenavitHartenbergModel
    */
   inline void setDenavitHartenbergModel(vpBiclops::DenavitHartenbergModel dh_model = vpBiclops::DH1)
   {
@@ -315,7 +315,7 @@ class VISP_EXPORT vpBiclops
  * Set output stream with Biclops parameters.
  * @param os : Output stream.
  * @param dummy : Not used.
- * @return Output stream with the biclops parameters.
+ * @return Output stream with the Biclops parameters.
  */
   friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpBiclops &dummy);
 };

modules/robot/include/visp3/robot/vpRobotBiclops.h

@@ -74,7 +74,7 @@
  * See http://www.traclabs.com/biclopspt.html for more details.
  *
  * This class provide a position and a speed control interface for the Biclops
- * head. To manage the biclops joint limits in speed control, a control loop is
+ * head. To manage the Biclops joint limits in speed control, a control loop is
  * running in a separate thread implemented in vpRobotBiclopsSpeedControlLoop().
  *
  * \warning Velocity control mode is not exported from the top-level Biclops
@@ -308,7 +308,7 @@ class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
    * \warning This method is blocking. That mean that it waits the end of the
    * positioning.
    *
-   * \param frame : Control frame. This biclops head can only be controlled in
+   * \param frame : Control frame. This Biclops head can only be controlled in
    * joint state.
    *
    * \param q : The joint position to set for each axis in radians.
@@ -324,7 +324,7 @@ class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
    * \warning This method is blocking. That mean that it wait the end of the
    * positioning.
    *
-   * \param frame : Control frame. This biclops head can only be controlled in
+   * \param frame : Control frame. This Biclops head can only be controlled in
    * joint state.
    *
    * \param q1 : The pan joint position to set in radians.
@@ -336,8 +336,8 @@ class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
   void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
 
   /*!
-   * Read the content of the position file and moves to head to joint
-   * position.
+   * Read the content of the position file and moves the head to joint
+   * positions.
    *
    * \param filename : Position filename
    *
@@ -365,7 +365,7 @@ class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
   /*!
    * Send a velocity on each axis.
    *
-   * \param frame : Control frame. This biclops head can only be controlled in
+   * \param frame : Control frame. This Biclops head can only be controlled in
    * joint state. Be aware, the camera frame (vpRobot::CAMERA_FRAME), the reference
    * frame (vpRobot::REFERENCE_FRAME), end-effector frame (vpRobot::END_EFFECTOR_FRAME)
    * and the mixt frame (vpRobot::MIXT_FRAME) are not implemented.