ViSP
2.8.0
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#include <vpPioneer.h>
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_ |
Generic functions for Pioneer mobile robots.
This class provides common features for Pioneer mobile robots. This robot has two control velocities , 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:
Considering , it is possible to compute the six dimention velocity skew expressed at the end effector frame by:
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Definition at line 94 of file vpPioneer.h.
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inline |
Create a default Pioneer robot.
Definition at line 100 of file vpPioneer.h.
References vpUnicycle::set_cMe(), and vpUnicycle::set_eJe().
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inlinevirtual |
Destructor that does nothing.
Definition at line 109 of file vpPioneer.h.
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inlineinherited |
Return the tranformation between the camera frame and the mobile robot end effector frame.
Definition at line 78 of file vpUnicycle.h.
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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.
Definition at line 89 of file vpUnicycle.h.
References vpVelocityTwistMatrix::buildFrom().
Referenced by vpUnicycle::get_cVe().
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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.
Definition at line 104 of file vpUnicycle.h.
References vpUnicycle::get_cVe().
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inlineinherited |
Return the robot jacobian expressed in the end effector frame.
Definition at line 115 of file vpUnicycle.h.
Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and vpSimulatorPioneerPan::get_eJe().
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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().
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inlineinherited |
Set the robot jacobian expressed in the end effector frame.
eJe | : The robot jacobian to set such as with the robot control velocities and the six dimention velocity skew. |
Definition at line 134 of file vpUnicycle.h.
Referenced by vpPioneer(), and vpPioneerPan::vpPioneerPan().
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protectedinherited |
Definition at line 140 of file vpUnicycle.h.
Referenced by vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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protectedinherited |
Definition at line 141 of file vpUnicycle.h.