Visual Servoing Platform version 3.5.0
vpPioneerPan.h
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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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 VPPIONEERPAN_H
39#define VPPIONEERPAN_H
40
41#include <visp3/core/vpHomogeneousMatrix.h>
42#include <visp3/core/vpRxyzVector.h>
43#include <visp3/core/vpTranslationVector.h>
44#include <visp3/robot/vpUnicycle.h>
45
97class VISP_EXPORT vpPioneerPan : public vpUnicycle
98{
99public:
103 vpPioneerPan() : mMp_(), pMe_()
104 {
105 double q = 0; // Initial position of the pan axis
106 set_mMp();
107 set_pMe(q);
108 set_cMe();
109 set_eJe(q);
110 }
111
115 virtual ~vpPioneerPan(){};
116
119
146 void set_eJe(double q_pan)
147 {
148 double px = mMp_[0][3];
149 double py = mMp_[1][3];
150 double c1 = cos(q_pan);
151 double s1 = sin(q_pan);
152
153 eJe_.resize(6,
154 3); // robot jacobian expressed at the pan head end effector
155
156 eJe_ = 0;
157 eJe_[0][0] = c1;
158 eJe_[0][1] = -c1 * py - s1 * px;
159
160 eJe_[2][0] = s1;
161 eJe_[2][1] = -s1 * py + c1 * px;
162
163 eJe_[4][1] = -1;
164 eJe_[4][2] = 1;
165 }
167
168protected:
175 void set_cMe()
176 {
177 // Position of pan head end effector frame in the camera frame
178 double cx = 0;
179 double cy = -0.065; // distance between camera and tilt axis
180 double cz = 0;
181 vpTranslationVector etc(cx, cy, cz);
183 eRc[0][0] = eRc[1][1] = eRc[2][2] = 0;
184 eRc[0][2] = 1;
185 eRc[1][1] = 1;
186 eRc[2][0] = -1;
187
189 eMc.buildFrom(etc, eRc);
190
191 cMe_ = eMc.inverse();
192 }
193
199 void set_mMp()
200 {
201 // Position of the pan head in the mobile platform frame
202 double px = 0.103; // distance between the pan frame and the robot frame
203 double py = 0;
204 double pz = 0.27;
206 mtp.set(px, py, pz);
207
208 vpRotationMatrix mRp; // set to Identity
209 mRp[1][1] = mRp[2][2] = -1.;
210
211 mMp_.insert(mtp);
212 mMp_.insert(mRp);
213 }
214
222 void set_pMe(const double q)
223 {
225 pRe[0][0] = cos(q);
226 pRe[0][2] = pRe[1][0] = sin(q);
227 pRe[1][1] = pRe[2][2] = 0.;
228 pRe[2][1] = 1.;
229 pRe[1][2] = -pRe[0][0];
230
231 pMe_.insert(pRe);
232 }
234
235protected:
237 vpHomogeneousMatrix pMe_; // depends on q pan
238};
239
240#endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Generic functions for Pioneer mobile robots equiped with a pan head.
Definition: vpPioneerPan.h:98
void set_eJe(double q_pan)
Definition: vpPioneerPan.h:146
void set_pMe(const double q)
Definition: vpPioneerPan.h:222
void set_mMp()
Definition: vpPioneerPan.h:199
vpHomogeneousMatrix mMp_
Definition: vpPioneerPan.h:236
virtual ~vpPioneerPan()
Definition: vpPioneerPan.h:115
vpHomogeneousMatrix pMe_
Definition: vpPioneerPan.h:237
void set_cMe()
Definition: vpPioneerPan.h:175
Implementation of a rotation matrix and operations on such kind of matrices.
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