#include <vpPioneer.h>

Inheritance diagram for vpPioneer:

Public Member Functions
	vpPioneer ()

virtual	~vpPioneer ()

vpHomogeneousMatrix	get_cMe () const

vpVelocityTwistMatrix	get_cVe () const

void	get_cVe (vpVelocityTwistMatrix &cVe) const

vpMatrix	get_eJe () const

void	set_cMe (const vpHomogeneousMatrix &cMe)

void	set_eJe (const vpMatrix &eJe)

Protected Attributes
vpHomogeneousMatrix	cMe_

vpMatrix	eJe_

Detailed Description

Generic functions for Pioneer mobile robots.

This class provides common features for Pioneer mobile robots. This robot has two control velocities $(v_x, w_z)$ , the translational and rotational velocities of the mobile platform respectively.

The figure below shows the position of the frames that are used to model the robot. The end effector frame is here located at the middle point between the two wheels.

The robot jacobian at the end effector frame, the point located at the middle between the two wheels is given by:

${^e}{\bf J}_e = \left(\begin{array}{cc} 1 & 0 \\ 0 & 0 \\ 0 & 0 \\ 0 & 0 \\ 0 & 0 \\ 0 & 1 \\ \end{array} \right)$

Considering $(v_x, w_z)$ , it is possible to compute $\bf v$ the six dimention velocity skew expressed at the end effector frame by:

${\bf v} = {^e}{\bf J}_e \; \left(\begin{array}{c} v_x \\ w_z \\ \end{array} \right)$

.

Definition at line 94 of file vpPioneer.h.

Constructor & Destructor Documentation

vpPioneer::vpPioneer ( )

inline

Create a default Pioneer robot.

Definition at line 100 of file vpPioneer.h.

References vpUnicycle::set_cMe(), and vpUnicycle::set_eJe().

virtual vpPioneer::~vpPioneer ( )

inlinevirtual

Destructor that does nothing.

Definition at line 109 of file vpPioneer.h.

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 78 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 89 of file vpUnicycle.h.

References vpVelocityTwistMatrix::buildFrom().

Referenced by vpUnicycle::get_cVe().

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 104 of file vpUnicycle.h.

References 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 115 of file vpUnicycle.h.

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

void vpUnicycle::set_cMe ( const vpHomogeneousMatrix & cMe )

inlineinherited

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

Definition at line 123 of file vpUnicycle.h.

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

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 134 of file vpUnicycle.h.

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

Member Data Documentation

vpHomogeneousMatrix vpUnicycle::cMe_

protectedinherited

Definition at line 140 of file vpUnicycle.h.

Referenced by vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

vpMatrix vpUnicycle::eJe_

protectedinherited

Definition at line 141 of file vpUnicycle.h.

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation