Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
vpSimulatorPioneerPan Class Reference

#include <visp3/robot/vpSimulatorPioneerPan.h>

+ Inheritance diagram for vpSimulatorPioneerPan:

Public Types

enum  vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }
 
enum  vpControlFrameType {
  REFERENCE_FRAME, ARTICULAR_FRAME, JOINT_STATE = ARTICULAR_FRAME, END_EFFECTOR_FRAME,
  CAMERA_FRAME, TOOL_FRAME = CAMERA_FRAME, MIXT_FRAME
}
 

Public Member Functions

 vpSimulatorPioneerPan ()
 
virtual ~vpSimulatorPioneerPan ()
 
Inherited functionalities from vpSimulatorPioneerPan
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 vpPioneerPan
void set_eJe (double q_pan)
 
Inherited functionalities from vpUnicycle
void set_eJe (const vpMatrix &eJe)
 
void set_cMe (const vpHomogeneousMatrix &cMe)
 
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 vpPioneerPan
void set_cMe ()
 
void set_mMp ()
 
void set_pMe (const double q)
 
Protected Member Functions Inherited from vpRobot
vpControlFrameType setRobotFrame (vpRobot::vpControlFrameType newFrame)
 
vpControlFrameType getRobotFrame (void) const
 

Protected Attributes

vpHomogeneousMatrix wMc_
 
vpHomogeneousMatrix wMm_
 
double xm_
 
double ym_
 
double theta_
 
double q_pan_
 
vpHomogeneousMatrix mMp_
 
vpHomogeneousMatrix pMe_
 
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 camera able to move in pan.

It intends to simulate the mobile robot described in vpPioneerPan class. This robot has 3 dof: $(v_x, w_z, \dot{q_1})$, the translational and rotational velocities of the mobile platform, the pan head velocity respectively.

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-pan.png

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

#include <visp3/robot/vpSimulatorPioneerPan.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(3); // we control vx, wz and q_pan
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-pan.cpp.

Definition at line 104 of file vpSimulatorPioneerPan.h.

Member Enumeration Documentation

Robot control frames.

Enumerator
REFERENCE_FRAME 

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

ARTICULAR_FRAME 

Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.

JOINT_STATE 

Corresponds to the joint state.

END_EFFECTOR_FRAME 

Corresponds to robot end-effector frame.

CAMERA_FRAME 

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

TOOL_FRAME 

Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.

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.

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

vpSimulatorPioneerPan::vpSimulatorPioneerPan ( )

Constructor.

Initialise the robot by a call to init().

Sampling time is set to 40 ms. To change it you should call setSamplingTime().

Definition at line 60 of file vpSimulatorPioneerPan.cpp.

References vpRobot::areJointLimitsAvailable, vpUnicycle::cMe_, vpRobot::eJeAvailable, vpRobot::fJeAvailable, vpHomogeneousMatrix::inverse(), vpPioneerPan::mMp_, vpRobot::nDof, vpPioneerPan::pMe_, q_pan_, vpRobot::qmax, vpRobot::qmin, theta_, wMc_, wMm_, xm_, and ym_.

vpSimulatorPioneerPan::~vpSimulatorPioneerPan ( )
virtual

Destructor.

Definition at line 93 of file vpSimulatorPioneerPan.cpp.

Member Function Documentation

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.

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().

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().

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(), vpSimulatorPioneer::get_eJe(), and get_eJe().

void vpSimulatorPioneerPan::get_eJe ( vpMatrix _eJe)
virtual

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

Parameters
_eJe: A 6 by 3 matrix representing the robot jacobian $ {^e}{\bf J}_e$ expressed in the end-effector frame.

Implements vpRobot.

Examples:
tutorial-simu-pioneer-pan.cpp.

Definition at line 102 of file vpSimulatorPioneerPan.cpp.

References vpUnicycle::get_eJe().

double vpRobot::getMaxTranslationVelocity ( void  ) const
inherited
void vpSimulatorPioneerPan::getPosition ( vpHomogeneousMatrix wMc) const

Get the robot position in the world frame.

Examples:
tutorial-simu-pioneer-pan.cpp.

Definition at line 185 of file vpSimulatorPioneerPan.cpp.

References wMc_.

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

vpControlFrameType vpRobot::getRobotFrame ( void  ) const
inlineprotectedinherited
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(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

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().

void vpPioneerPan::set_cMe ( )
inlineprotectedinherited

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

Definition at line 175 of file vpPioneerPan.h.

References vpHomogeneousMatrix::buildFrom(), and vpHomogeneousMatrix::inverse().

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().

void vpPioneerPan::set_eJe ( double  q_pan)
inlineinherited

Set the robot jacobian expressed at point E the end effector frame located on the pan head.

Considering ${\bf v} = {^e}{\bf J}_e \; [v_x, w_z, \dot{q_1}]$ with $(v_x, w_z)$ respectively the translational and rotational control velocities of the mobile platform, $\dot{q_1}$ the joint velocity of the pan head and $\bf v$ the six dimention velocity skew expressed at point E in frame E, the robot jacobian is given by:

\[ {^e}{\bf J}_e = \left(\begin{array}{ccc} c_1 & -c_1*p_y - s_1*p_x & 0 \\ 0 & 0 & 0 \\ s_1 & -s_1*p_y + c_1*p_x & 0 \\ 0 & 0 & 0 \\ 0 & -1 & 1 \\ 0 & 0 & 0 \\ \end{array} \right) \]

with $p_x, p_y$ the position of the head base frame in the mobile platform frame located at the middle point between the two weels.

Examples:
servoPioneerPanSegment3D.cpp.

Definition at line 146 of file vpPioneerPan.h.

Referenced by setVelocity().

void vpPioneerPan::set_mMp ( )
inlineprotectedinherited

Set the transformation between the mobile platform frame located at the middle point between the two weels and the base frame of the pan head.

Definition at line 199 of file vpPioneerPan.h.

References vpTranslationVector::set().

void vpPioneerPan::set_pMe ( const double  q)
inlineprotectedinherited

Set the transformation between the pan head reference frame and the end-effector frame.

Parameters
q: Position in rad of the pan axis.

Definition at line 222 of file vpPioneerPan.h.

Referenced by setVelocity().

void vpRobot::setMaxRotationVelocity ( const double  w_max)
inherited
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().

void vpSimulatorPioneerPan::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 $(v_x, \omega_z, \dot q)$ 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 of the mobile base, and, $\dot q$ is the pan velocity in rad/s of the camera.

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-pan.cpp.

Definition at line 122 of file vpSimulatorPioneerPan.cpp.

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

Member Data Documentation

int vpRobot::areJointLimitsAvailable
protectedinherited
double vpRobotSimulator::delta_t_
protectedinherited
vpMatrix vpRobot::eJe
protectedinherited
vpMatrix vpUnicycle::eJe_
protectedinherited

Definition at line 128 of file vpUnicycle.h.

int vpRobot::eJeAvailable
protectedinherited

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

Definition at line 106 of file vpRobot.h.

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

vpMatrix vpRobot::fJe
protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 108 of file vpRobot.h.

Referenced by vpRobot::operator=().

int vpRobot::fJeAvailable
protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 110 of file vpRobot.h.

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

const double vpRobot::maxRotationVelocityDefault = 0.7
staticprotectedinherited

Definition at line 99 of file vpRobot.h.

double vpRobot::maxTranslationVelocity
protectedinherited
const double vpRobot::maxTranslationVelocityDefault = 0.2
staticprotectedinherited

Definition at line 97 of file vpRobot.h.

vpHomogeneousMatrix vpPioneerPan::mMp_
protectedinherited

Definition at line 236 of file vpPioneerPan.h.

Referenced by setVelocity(), and vpSimulatorPioneerPan().

vpHomogeneousMatrix vpPioneerPan::pMe_
protectedinherited

Definition at line 237 of file vpPioneerPan.h.

Referenced by setVelocity(), and vpSimulatorPioneerPan().

double vpSimulatorPioneerPan::q_pan_
protected

Definition at line 118 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity(), and vpSimulatorPioneerPan().

double vpSimulatorPioneerPan::theta_
protected

Definition at line 117 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity(), and vpSimulatorPioneerPan().

vpHomogeneousMatrix vpSimulatorPioneerPan::wMc_
protected

robot / camera location in the world frame

Definition at line 109 of file vpSimulatorPioneerPan.h.

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

vpHomogeneousMatrix vpSimulatorPioneerPan::wMm_
protected

Definition at line 110 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity(), and vpSimulatorPioneerPan().

double vpSimulatorPioneerPan::xm_
protected

Definition at line 115 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity(), and vpSimulatorPioneerPan().

double vpSimulatorPioneerPan::ym_
protected

Definition at line 116 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity(), and vpSimulatorPioneerPan().