#include <vpPioneerPan.h>

Inheritance diagram for vpPioneerPan:

Public Member Functions
	vpPioneerPan ()

virtual	~vpPioneerPan ()

void	set_eJe (double q_pan)

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 Member Functions
void	set_cMe ()

void	set_mMp ()

void	set_pMe (const double q)

Protected Attributes
vpHomogeneousMatrix	mMp_

vpHomogeneousMatrix	pMe_

vpHomogeneousMatrix	cMe_

vpMatrix	eJe_

Detailed Description

Generic functions for Pioneer mobile robots equiped with a pan head.

This class provides common features for Pioneer mobile robots equiped with a pan head.

This robot has three control velocities $(v_x, w_z, \dot{q_1})$ , the translational and rotational velocities of the mobile platform, the pan head velocity 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 pan axis.

Considering

${\bf v} = {^e}{\bf J}_e \; \left(\begin{array}{c} v_x \\ w_z \\ \dot{q_1} \\ \end{array} \right)$

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 99 of file vpPioneerPan.h.

Constructor & Destructor Documentation

vpPioneerPan::vpPioneerPan ( )

inline

Create a pioneer mobile robot equiped with a pan head.

Definition at line 105 of file vpPioneerPan.h.

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

virtual vpPioneerPan::~vpPioneerPan ( )

inlinevirtual

Destructor that does nothing.

Definition at line 117 of file vpPioneerPan.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::vpPioneer(), and vpPioneerPan().

void vpPioneerPan::set_cMe ( )

inlineprotected

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

Definition at line 168 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 134 of file vpUnicycle.h.

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

void vpPioneerPan::set_eJe ( double q_pan )

inline

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.