vpPioneer.h

/****************************************************************************
 *
 * $Id: vpPioneer.h 3778 2012-06-06 14:12:07Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Common features for Pioneer unicycle mobile robots.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef VPPIONEER_H
#define VPPIONEER_H

#include <visp/vpRxyzVector.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpUnicycle.h>


class VISP_EXPORT vpPioneer: public vpUnicycle
{
public:
  vpPioneer() : vpUnicycle()
  {
    set_cMe();
    set_eJe();
  }

  virtual ~vpPioneer() {};

private:
  void set_cMe()
  {
    // Position of the camera in the mobile platform frame
    double l = 0.13; // distance between the camera frame and the mobile robot frame
    vpTranslationVector cte; // meters
    vpRxyzVector        cre; // radian
    cte.set(0, 0, -l);
    cre.buildFrom(vpMath::rad(90.), 0, vpMath::rad(90.));
    cMe_.buildFrom(cte, vpRotationMatrix(cre));
  }

  void set_eJe()
  {
    eJe_.resize(6, 2); // pioneer jacobian expressed at point M
    eJe_ = 0;
    eJe_[0][0] = 1; // vx
    eJe_[5][1] = 1; // wz
  }
};

#endif