ViSP  2.8.0
vpRobotPioneer.h
1 /****************************************************************************
2  *
3  * $Id: vpRobotPioneer.h 4317 2013-07-17 09:40:17Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Interface for Pioneer mobile robots based on Aria 3rd party library.
36  *
37  * Authors:
38  * Fabien Spindler
39  *
40  *****************************************************************************/
41 #ifndef VPROBOTPIONEER_H
42 #define VPROBOTPIONEER_H
43 
44 #include <visp/vpConfig.h>
45 #include <visp/vpRobot.h>
46 #include <visp/vpPioneer.h>
47 
48 #ifdef VISP_HAVE_PIONEER
49 
50 #include <Aria.h>
51 
65 class VISP_EXPORT vpRobotPioneer: public vpRobot, public vpPioneer, public ArRobot
66 {
67 private: /* Not allowed functions. */
68 
72  vpRobotPioneer(const vpRobotPioneer &robot);
73 
74 public:
76  virtual ~vpRobotPioneer();
77 
89  void get_eJe(vpMatrix & eJe)
90  {
91  eJe = vpUnicycle::get_eJe();
92  }
93 
94 private: // Set as private since not implemented
99  void get_fJe(vpMatrix & /*fJe*/) {} ;
100 
105  void getDisplacement(const vpRobot::vpControlFrameType /*frame*/, vpColVector &/*q*/) {};
106 
107 public:
108  void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & velocity);
109  vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
110 
111 private: // Set as private since not implemented
116  void getPosition(const vpRobot::vpControlFrameType /*frame*/, vpColVector &/*q*/) {};
117 
118 public:
119  void init();
120 
121 private: // Set as private since not implemented
126  void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector &/*q*/) {};
127 
128 public:
129  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
130 
134  void useSonar(bool usage)
135  {
136  this->comInt(ArCommands::SONAR, usage);
137  }
138 
139 protected:
141 };
142 
143 #endif
144 
145 #endif // VPROBOTPIONEER_H
146 
Definition of the vpMatrix class.
Definition: vpMatrix.h:96
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
void get_eJe(vpMatrix &eJe)
void useSonar(bool usage)
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Interface for Pioneer mobile robots based on Aria 3rd party library.
class that defines a generic virtual robot
Definition: vpRobot.h:60
vpControlFrameType
Definition: vpRobot.h:78
virtual void init()=0
vpMatrix get_eJe() const
Definition: vpUnicycle.h:115
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
Get the robot Jacobian expressed in the robot reference (or world) frame.
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:94
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Set the velocity (frame has to be specified) that will be applied to the velocity controller...