Visual Servoing Platform version 3.5.0
vpPioneer.h
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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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.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://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
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26 * Inria at visp@inria.fr
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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 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38#ifndef VPPIONEER_H
39#define VPPIONEER_H
40
41#include <visp3/core/vpRxyzVector.h>
42#include <visp3/core/vpTranslationVector.h>
43#include <visp3/robot/vpUnicycle.h>
44
91class VISP_EXPORT vpPioneer : public vpUnicycle
92{
93public:
98 {
99 set_cMe();
100 set_eJe();
101 }
102
106 virtual ~vpPioneer(){};
107
108private:
113 void set_cMe()
114 {
115 // Position of mobile platform end effector frame in the camera frame
116 double l = 0.13; // distance between the camera frame and the mobile robot frame
117 vpTranslationVector cte; // meters
118 vpRxyzVector cre; // radian
119 cte.set(0, 0, -l);
120 cre.buildFrom(vpMath::rad(90.), 0, vpMath::rad(90.));
121 cMe_.buildFrom(cte, vpRotationMatrix(cre));
122 }
123
146 void set_eJe()
147 {
148 eJe_.resize(6, 2); // pioneer jacobian expressed at point M
149 eJe_ = 0;
150 eJe_[0][0] = 1; // vx
151 eJe_[5][1] = 1; // wz
152 }
153};
154
155#endif
static double rad(double deg)
Definition: vpMath.h:110
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:92
virtual ~vpPioneer()
Definition: vpPioneer.h:106
vpPioneer()
Definition: vpPioneer.h:97
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
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:57
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:123
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:113