Visual Servoing Platform version 3.6.0
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vpPioneer.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Common features for Pioneer unicycle mobile robots.
33 *
34*****************************************************************************/
35#ifndef VPPIONEER_H
36#define VPPIONEER_H
37
38#include <visp3/core/vpRxyzVector.h>
39#include <visp3/core/vpTranslationVector.h>
40#include <visp3/robot/vpUnicycle.h>
41
88class VISP_EXPORT vpPioneer : public vpUnicycle
89{
90public:
95 {
96 set_cMe();
97 set_eJe();
98 }
99
103 virtual ~vpPioneer(){};
104
105private:
110 void set_cMe()
111 {
112 // Position of mobile platform end effector frame in the camera frame
113 double l = 0.13; // distance between the camera frame and the mobile robot frame
114 vpTranslationVector cte; // meters
115 vpRxyzVector cre; // radian
116 cte.set(0, 0, -l);
117 cre.buildFrom(vpMath::rad(90.), 0, vpMath::rad(90.));
118 cMe_.buildFrom(cte, vpRotationMatrix(cre));
119 }
120
143 void set_eJe()
144 {
145 eJe_.resize(6, 2); // pioneer jacobian expressed at point M
146 eJe_ = 0;
147 eJe_[0][0] = 1; // vx
148 eJe_[5][1] = 1; // wz
149 }
150};
151
152#endif
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition vpArray2D.h:305
static double rad(double deg)
Definition vpMath.h:116
Generic functions for Pioneer mobile robots.
Definition vpPioneer.h:89
virtual ~vpPioneer()
Definition vpPioneer.h:103
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.
void set(double tx, double ty, double tz)
Generic functions for unicycle mobile robots.
Definition vpUnicycle.h:54
void set_eJe(const vpMatrix &eJe)
Definition vpUnicycle.h:120
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition vpUnicycle.h:110