41 #ifndef VPPIONEERPAN_H
42 #define VPPIONEERPAN_H
44 #include <visp/vpRxyzVector.h>
45 #include <visp/vpTranslationVector.h>
46 #include <visp/vpUnicycle.h>
116 double c1 = cos(q_pan);
117 double s1 = sin(q_pan);
123 eJe_[0][1] = -c1*py - s1*px;
126 eJe_[2][1] = -s1*py + c1*px;
144 eRc[0][0] = eRc[1][1] = eRc[2][2] = 0;
154 std::cout <<
"cMe de pan: \n" << cMe_ << std::endl;
167 mtp_.set(px, py, pz);
void set_cMe(const vpHomogeneousMatrix &cMe)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void set_eJe(const vpMatrix &eJe)
Generic functions for Pioneer mobile robots equiped with a pan head.
The vpRotationMatrix considers the particular case of a rotation matrix.
Generic functions for unicycle mobile robots.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Construction from translation vector and rotation matrix.
vpHomogeneousMatrix inverse() const
void set_eJe(double q_pan)
Class that consider the case of a translation vector.