src/libYARP_robot/eurobot/yarp/YARPEurobotHeadKin.cpp
YARPEurobotHeadKin::YARPEurobotHeadKin (const YMatrix &dh_left, const YMatrix &dh_right, const YHmgTrsf &bline)
	: _leftCamera (dh_left, bline),
	  _rightCamera (dh_right, bline)
{
	///
	ACE_ASSERT (dh_left.NRows() == dh_right.NRows());

	/// nFrame must be rather the NRows - the # of rows with fifth colum == 0.
	_nFrame = dh_left.NRows();

	_leftJoints.Resize (_nFrame);
	_rightJoints.Resize (_nFrame);

	_leftJoints = 0;
	_rightJoints = 0;
}
///
///
/// each of <dh_left>, <dh_right> describes independently the two kinematic chains from 
/// base to left and base to right eye respectively.
/// each matrix has njoint + occasional fictious links lines.
///
each of ,  describes independently the two kinematic chains from
base to left and base to right eye respectively.
each matrix has njoint + occasional fictious links lines.
each of describes independently the two kinematic chains from base to left and base to right eye respectively . each matrix has njoint + occasional fictious links lines .
YARPEurobotHeadKin::YARPEurobotHeadKin (const YMatrix &dh_left, const YMatrix &dh_right, const YHmgTrsf &bline)
	: _leftCamera (dh_left, bline),
	  _rightCamera (dh_right, bline)
{
	ACE_ASSERT (dh_left.NRows() == dh_right.NRows());
	 nFrame must be rather the NRows - the # of rows with fifth colum == 0.
	_nFrame = dh_left.NRows();
	_leftJoints.Resize (_nFrame);
	_rightJoints.Resize (_nFrame);
	_leftJoints = 0;
	_rightJoints = 0;
}
YARPEurobotHeadKin :: YARPEurobotHeadKin ( const YMatrix & dh_left , const YMatrix & dh_right , const YHmgTrsf & bline ) : _leftCamera ( dh_left , bline ) , _rightCamera ( dh_right , bline ) { ACE_ASSERT ( dh_left . NRows ( ) == dh_right . NRows ( ) ) ; _nFrame = dh_left . NRows ( ) ; _leftJoints . Resize ( _nFrame ) ; _rightJoints . Resize ( _nFrame ) ; _leftJoints = 0 ; _rightJoints = 0 ; }
each of <dh_left>, <dh_right> describes independently the two kinematic chains from
base to left and base to right eye respectively.
each of <dh_left > <dh_right > describes independently the two kinematic chains from base to left and base to right eye respectively .
/// /// nFrame must be rather the NRows - the # of rows with fifth colum == 0.