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Visual Servoing Platform version 3.6.0
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#include <vpPioneerPan.h>
Public Member Functions | |
vpPioneerPan () | |
virtual | ~vpPioneerPan () |
Inherited functionalities from vpPioneerPan | |
void | set_eJe (double q_pan) |
Protected Member Functions Inherited from vpPioneerPan | |
vpHomogeneousMatrix | mMp_ |
vpHomogeneousMatrix | pMe_ |
void | set_cMe () |
void | set_mMp () |
void | set_pMe (const double q) |
Inherited functionalities from vpUnicycle | |
vpHomogeneousMatrix | cMe_ |
vpMatrix | eJe_ |
vpHomogeneousMatrix | get_cMe () const |
vpVelocityTwistMatrix | get_cVe () const |
void | get_cVe (vpVelocityTwistMatrix &cVe) const |
vpMatrix | get_eJe () const |
void | set_cMe (const vpHomogeneousMatrix &cMe) |
void | set_eJe (const vpMatrix &eJe) |
Generic functions for Pioneer mobile robots equiped with a pan head.
This class provides common features for Pioneer mobile robots equiped with a pan head.
This robot has three control velocities
The figure below shows the position of the frames that are used to model the robot. The end effector frame is here located at the pan axis.
Considering
with
with
Definition at line 94 of file vpPioneerPan.h.
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inline |
Create a pioneer mobile robot equiped with a pan head.
Definition at line 100 of file vpPioneerPan.h.
References vpUnicycle::set_cMe(), and vpUnicycle::set_eJe().
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inlinevirtual |
Destructor that does nothing.
Definition at line 112 of file vpPioneerPan.h.
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inlineinherited |
Return the tranformation
Definition at line 71 of file vpUnicycle.h.
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inlineinherited |
Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.
Definition at line 79 of file vpUnicycle.h.
References vpVelocityTwistMatrix::buildFrom().
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inlineinherited |
Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.
Definition at line 94 of file vpUnicycle.h.
References vpUnicycle::get_cVe().
Referenced by vpUnicycle::get_cVe().
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inlineinherited |
Return the robot jacobian
Definition at line 104 of file vpUnicycle.h.
Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and vpSimulatorPioneerPan::get_eJe().
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inlineprotected |
Set the transformation between the camera frame and the pan head end effector frame.
Definition at line 172 of file vpPioneerPan.h.
References vpHomogeneousMatrix::buildFrom(), and vpHomogeneousMatrix::inverse().
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inlineinherited |
Set the transformation between the camera frame and the end effector frame.
Definition at line 110 of file vpUnicycle.h.
Referenced by vpPioneer::vpPioneer(), and vpPioneerPan().
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inline |
Set the robot jacobian expressed at point E the end effector frame located on the pan head.
Considering
with
Definition at line 143 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity().
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inlineinherited |
Set the robot jacobian
eJe | : The robot jacobian to set such as ![]() ![]() ![]() |
Definition at line 120 of file vpUnicycle.h.
Referenced by vpPioneer::vpPioneer(), and vpPioneerPan().
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inlineprotected |
Set the transformation between the mobile platform frame located at the middle point between the two weels and the base frame of the pan head.
Definition at line 196 of file vpPioneerPan.h.
References vpArray2D< Type >::insert(), and vpTranslationVector::set().
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inlineprotected |
Set the transformation between the pan head reference frame and the end-effector frame.
q | : Position in rad of the pan axis. |
Definition at line 219 of file vpPioneerPan.h.
References vpArray2D< Type >::insert().
Referenced by vpSimulatorPioneerPan::setVelocity().
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protectedinherited |
Definition at line 124 of file vpUnicycle.h.
Referenced by vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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protectedinherited |
Definition at line 125 of file vpUnicycle.h.
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protected |
Definition at line 233 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity().
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protected |
Definition at line 234 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity().