Visual Servoing Platform version 3.5.0
vpSimulatorPioneerPan.h
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21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Pioneer mobile robot equipped with a pan head simulator without display.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef vpSimulatorPioneerPan_H
40#define vpSimulatorPioneerPan_H
41
48#include <visp3/core/vpColVector.h>
49#include <visp3/core/vpHomogeneousMatrix.h>
50#include <visp3/core/vpMatrix.h>
51#include <visp3/robot/vpPioneerPan.h>
52#include <visp3/robot/vpRobot.h>
53#include <visp3/robot/vpRobotSimulator.h>
54
104class VISP_EXPORT vpSimulatorPioneerPan : public vpPioneerPan, public vpRobotSimulator
105{
106
107protected:
109 vpHomogeneousMatrix wMc_; // world to camera
110 vpHomogeneousMatrix wMm_; // world to mobile robot frame located between the two weels
111 // mMp_ mobile robot to pan frame is a protected member of vpPioneerPan
112 // pMe_ pan head to end effector frame is a protected member of vpPioneerPan
113 // cMe_ is a protected member of vpUnicycle
114
115 double xm_;
116 double ym_;
117 double theta_;
118 double q_pan_;
119
120public:
122 virtual ~vpSimulatorPioneerPan();
123
124public:
127 void get_eJe(vpMatrix &eJe);
128
129 void getPosition(vpHomogeneousMatrix &wMc) const;
131 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
133
134private:
135 void init();
136
137 // Non implemented virtual pure functions
138 void get_fJe(vpMatrix & /*_fJe */){};
139 void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */){};
140 void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */){};
141};
142
143#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Generic functions for Pioneer mobile robots equiped with a pan head.
Definition: vpPioneerPan.h:98
This class aims to be a basis used to create all the robot simulators.
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
vpControlFrameType
Definition: vpRobot.h:75
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Class that defines the Pioneer mobile robot simulator equipped with a camera able to move in pan.
vpHomogeneousMatrix wMm_
vpHomogeneousMatrix wMc_
robot / camera location in the world frame
vpMatrix get_eJe() const
Definition: vpUnicycle.h:107