Visual Servoing Platform  version 3.1.0
vpSimulatorPioneer Class Reference

#include <visp3/robot/vpSimulatorPioneer.h>

+ Inheritance diagram for vpSimulatorPioneer:

Public Types

enum  vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }
 
enum  vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, CAMERA_FRAME, MIXT_FRAME }
 

Public Member Functions

 vpSimulatorPioneer ()
 
virtual ~vpSimulatorPioneer ()
 
Inherited functionalities from vpSimulatorPioneer
void get_eJe (vpMatrix &eJe)
 
void getPosition (vpHomogeneousMatrix &wMc) const
 
void getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)
 
void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)
 
Inherited functionalities from vpUnicycle
void set_cMe (const vpHomogeneousMatrix &cMe)
 
void set_eJe (const vpMatrix &eJe)
 
vpHomogeneousMatrix get_cMe () const
 
vpVelocityTwistMatrix get_cVe () const
 
void get_cVe (vpVelocityTwistMatrix &cVe) const
 
vpMatrix get_eJe () const
 
Inherited functionalities from vpRobotSimulator
double getSamplingTime () const
 
virtual void setSamplingTime (const double &delta_t)
 
Inherited functionalities from vpRobot
double getMaxTranslationVelocity (void) const
 
double getMaxRotationVelocity (void) const
 
vpColVector getPosition (const vpRobot::vpControlFrameType frame)
 
virtual vpRobotStateType getRobotState (void) const
 
void setMaxRotationVelocity (const double maxVr)
 
void setMaxTranslationVelocity (const double maxVt)
 
virtual vpRobotStateType setRobotState (const vpRobot::vpRobotStateType newState)
 
void setVerbose (bool verbose)
 

Static Public Member Functions

Static Public Member Functions inherited from vpRobot
static vpColVector saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
 

Protected Member Functions

Protected Member Functions Inherited from vpRobot
vpControlFrameType setRobotFrame (vpRobot::vpControlFrameType newFrame)
 
vpControlFrameType getRobotFrame (void) const
 

Protected Attributes

vpHomogeneousMatrix wMc_
 
vpHomogeneousMatrix wMe_
 
double xm_
 
double ym_
 
double theta_
 
vpHomogeneousMatrix cMe_
 
vpMatrix eJe_
 
double delta_t_
 
double maxTranslationVelocity
 
double maxRotationVelocity
 
int nDof
 
vpMatrix eJe
 
int eJeAvailable
 
vpMatrix fJe
 
int fJeAvailable
 
int areJointLimitsAvailable
 
double * qmin
 
double * qmax
 
bool verbose_
 

Static Protected Attributes

static const double maxTranslationVelocityDefault = 0.2
 
static const double maxRotationVelocityDefault = 0.7
 

Detailed Description

Class that defines the Pioneer mobile robot simulator equipped with a static camera.

It intends to simulate the mobile robot described in vpPioneer class. This robot has 2 dof: $(v_x, w_z)$, the translational and rotational velocities that are applied at point E.

The robot position evolves with respect to a world frame; wMc. When a new joint velocity is applied to the robot using setVelocity(), the position of the camera wrt the world frame is updated.

pioneer.png

The following code shows how to control this robot in position and velocity.

#include <visp3/robot/vpSimulatorPioneer.h>
int main()
{
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "Default position of the camera in the world frame wMc:\n" << wMc << std::endl;
robot.setSamplingTime(0.100); // Modify the default sampling time to 0.1 second
robot.setMaxTranslationVelocity(1.); // vx max set to 1 m/s
robot.setMaxRotationVelocity(vpMath::rad(90)); // wz max set to 90 deg/s
vpColVector v(2); // we control vx and wz dof
v = 0;
v[0] = 1.; // set vx to 1 m/s
// The robot has moved from 0.1 meters along the z axis
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "New position of the camera wMc:\n" << wMc << std::endl;
}

The usage of this class is also highlighted in Tutorial: Visual servo simulation on a pioneer-like unicycle robot.

Examples:
tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 103 of file vpSimulatorPioneer.h.

Member Enumeration Documentation

◆ vpControlFrameType

Robot control frames.

Enumerator
REFERENCE_FRAME 

Corresponds to a fixed reference frame attached to the robot structure.

ARTICULAR_FRAME 

Corresponds to the joint space.

CAMERA_FRAME 

Corresponds to a frame attached to the camera mounted on the robot end-effector.

MIXT_FRAME 

Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 75 of file vpRobot.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType
inherited

Robot control states.

Enumerator
STATE_STOP 

Stops robot motion especially in velocity and acceleration control.

STATE_VELOCITY_CONTROL 

Initialize the velocity controller.

STATE_POSITION_CONTROL 

Initialize the position controller.

STATE_ACCELERATION_CONTROL 

Initialize the acceleration controller.

Definition at line 64 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpSimulatorPioneer()

◆ ~vpSimulatorPioneer()

vpSimulatorPioneer::~vpSimulatorPioneer ( )
virtual

Destructor.

Definition at line 85 of file vpSimulatorPioneer.cpp.

Member Function Documentation

◆ get_cMe()

vpHomogeneousMatrix vpUnicycle::get_cMe ( ) const
inlineinherited

Return the tranformation ${^c}{\bf M}_e$ between the camera frame and the mobile robot end effector frame.

Definition at line 74 of file vpUnicycle.h.

◆ get_cVe() [1/2]

vpVelocityTwistMatrix vpUnicycle::get_cVe ( ) const
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.

Examples:
servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 82 of file vpUnicycle.h.

References vpVelocityTwistMatrix::buildFrom().

◆ get_cVe() [2/2]

void vpUnicycle::get_cVe ( vpVelocityTwistMatrix cVe) const
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.

See also
get_cVe()

Definition at line 97 of file vpUnicycle.h.

References vpUnicycle::get_cVe().

Referenced by vpUnicycle::get_cVe().

◆ get_eJe() [1/2]

vpMatrix vpUnicycle::get_eJe ( ) const
inlineinherited

Return the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Returns
The robot jacobian such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimention velocity skew.
Examples:
servoPioneerPanSegment3D.cpp.

Definition at line 107 of file vpUnicycle.h.

Referenced by vpRobotPioneer::get_eJe(), get_eJe(), and vpSimulatorPioneerPan::get_eJe().

◆ get_eJe() [2/2]

void vpSimulatorPioneer::get_eJe ( vpMatrix _eJe)
virtual

Get the robot jacobian expressed in the end-effector frame. The jacobian expression is given in vpPioneer class.

Parameters
_eJe: A 6 by 2 matrix representing the robot jacobian $ {^e}{\bf J}_e$ expressed in the end-effector frame.

Implements vpRobot.

Examples:
tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 94 of file vpSimulatorPioneer.cpp.

References vpUnicycle::get_eJe().

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void  ) const
inherited

◆ getPosition() [1/3]

void vpSimulatorPioneer::getPosition ( vpHomogeneousMatrix wMc) const

Get the robot position in the world frame.

Examples:
tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 171 of file vpSimulatorPioneer.cpp.

References wMc_.

◆ getPosition() [2/3]

void vpSimulatorPioneer::getPosition ( const vpRobot::vpControlFrameType  frame,
vpColVector q 
)
virtual

◆ getPosition() [3/3]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType  frame)
inherited

Return the current robot position in the specified frame.

Definition at line 216 of file vpRobot.cpp.

References vpRobot::getPosition().

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void  ) const
inlineprotectedinherited

◆ getRobotState()

◆ getSamplingTime()

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities ( const vpColVector v_in,
const vpColVector v_max,
bool  verbose = false 
)
staticinherited

Saturate velocities.

Parameters
v_in: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose: Print a message indicating which axis causes the saturation.
Returns
Saturated velocities.
Exceptions
vpRobotException::dimensionError: If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
#include <visp3/robot/vpRobot.h>
int main()
{
// Set a velocity skew vector
v[0] = 0.1; // vx in m/s
v[1] = 0.2; // vy
v[2] = 0.3; // vz
v[3] = vpMath::rad(10); // wx in rad/s
v[4] = vpMath::rad(-10); // wy
v[5] = vpMath::rad(20); // wz
// Set the maximal allowed velocities
vpColVector v_max(6);
for (int i=0; i<3; i++)
v_max[i] = 0.3; // in translation (m/s)
for (int i=3; i<6; i++)
v_max[i] = vpMath::rad(10); // in rotation (rad/s)
// Compute the saturated velocity skew vector
vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
std::cout << "v : " << v.t() << std::endl;
std::cout << "v max: " << v_max.t() << std::endl;
std::cout << "v sat: " << v_sat.t() << std::endl;
return 0;
}

Definition at line 163 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ set_cMe()

void vpUnicycle::set_cMe ( const vpHomogeneousMatrix cMe)
inlineinherited

Set the transformation between the camera frame and the end effector frame.

Definition at line 113 of file vpUnicycle.h.

Referenced by vpPioneer::vpPioneer(), vpPioneerPan::vpPioneerPan(), and vpPioneer::~vpPioneer().

◆ set_eJe()

void vpUnicycle::set_eJe ( const vpMatrix eJe)
inlineinherited

Set the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Parameters
eJe: The robot jacobian to set such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimention velocity skew.

Definition at line 123 of file vpUnicycle.h.

Referenced by vpPioneer::vpPioneer(), vpPioneerPan::vpPioneerPan(), and vpPioneer::~vpPioneer().

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( const double  w_max)
inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters
w_max: Maximum rotation velocity expressed in rad/s.
Examples:
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, and testFeatureSegment.cpp.

Definition at line 260 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( const double  v_max)
inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters
v_max: Maximum translation velocity expressed in m/s.
Examples:
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 239 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

◆ setRobotFrame()

◆ setRobotState()

◆ setSamplingTime()

◆ setVelocity()

void vpSimulatorPioneer::setVelocity ( const vpRobot::vpControlFrameType  frame,
const vpColVector v 
)
virtual

Send to the controller a velocity.

Parameters
frame: Control frame type. Only vpRobot::ARTICULAR_FRAME is implemented.
v: Velocity vector $(v_x, \omega_z)$ to apply to the robot, where $v_x$ is the linear translational velocity in m/s and $\omega_z$ is the rotational velocity in rad/s arround the vertical axis.

Depending on the velocity specified as input, the robot position is updated using the sampling time that can be modified using setSamplingTime().

See also
setSamplingTime()

Implements vpRobot.

Examples:
tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 113 of file vpSimulatorPioneer.cpp.

References vpRobot::ARTICULAR_FRAME, vpHomogeneousMatrix::buildFrom(), vpRobot::CAMERA_FRAME, vpUnicycle::cMe_, vpRobotSimulator::delta_t_, vpException::dimensionError, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpHomogeneousMatrix::inverse(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpRobot::setRobotFrame(), vpRobot::setRobotState(), vpArray2D< Type >::size(), vpRobot::STATE_VELOCITY_CONTROL, theta_, vpERROR_TRACE, wMc_, wMe_, vpRobotException::wrongStateError, xm_, and ym_.

◆ setVerbose()

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable
protectedinherited

◆ cMe_

◆ delta_t_

double vpRobotSimulator::delta_t_
protectedinherited

◆ eJe

vpMatrix vpRobot::eJe
protectedinherited

◆ eJe_

vpMatrix vpUnicycle::eJe_
protectedinherited

Definition at line 128 of file vpUnicycle.h.

◆ eJeAvailable

int vpRobot::eJeAvailable
protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 101 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ fJe

vpMatrix vpRobot::fJe
protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 103 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ fJeAvailable

int vpRobot::fJeAvailable
protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 105 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7
staticprotectedinherited

Definition at line 94 of file vpRobot.h.

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity
protectedinherited

◆ maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2
staticprotectedinherited

Definition at line 92 of file vpRobot.h.

◆ nDof

int vpRobot::nDof
protectedinherited

◆ qmax

◆ qmin

◆ theta_

double vpSimulatorPioneer::theta_
protected

Definition at line 116 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

◆ verbose_

◆ wMc_

vpHomogeneousMatrix vpSimulatorPioneer::wMc_
protected

Definition at line 108 of file vpSimulatorPioneer.h.

Referenced by getPosition(), setVelocity(), and vpSimulatorPioneer().

◆ wMe_

vpHomogeneousMatrix vpSimulatorPioneer::wMe_
protected

Definition at line 111 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

◆ xm_

double vpSimulatorPioneer::xm_
protected

Definition at line 114 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

◆ ym_

double vpSimulatorPioneer::ym_
protected

Definition at line 115 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().