ViSP  2.8.0
vpSimulatorPioneerPan.h
1 /****************************************************************************
2  *
3  * $Id: vpSimulatorPioneerPan.h 2456 2010-01-07 10:33:12Z nmelchio $
4  *
5  * This file is part of the ViSP software.
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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
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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  * Pioneer mobile robot equipped with a pan head simulator without display.
36  *
37  * Authors:
38  * Fabien Spindler
39  *
40  *****************************************************************************/
41 
42 
43 #ifndef vpSimulatorPioneerPan_H
44 #define vpSimulatorPioneerPan_H
45 
52 #include <visp/vpColVector.h>
53 #include <visp/vpHomogeneousMatrix.h>
54 #include <visp/vpMatrix.h>
55 #include <visp/vpPioneerPan.h>
56 #include <visp/vpRobot.h>
57 #include <visp/vpRobotSimulator.h>
58 
106 class VISP_EXPORT vpSimulatorPioneerPan : public vpPioneerPan, public vpRobotSimulator
107 {
108 
109 protected:
111  vpHomogeneousMatrix wMc_ ; // world to camera
112  vpHomogeneousMatrix wMm_ ; // world to mobile robot frame located between the two weels
113  // mMp_ mobile robot to pan frame is a protected member of vpPioneerPan
114  // pMe_ pan head to end effector frame is a protected member of vpPioneerPan
115  // cMe_ is a protected member of vpUnicycle
116 
117  double xm_;
118  double ym_;
119  double theta_;
120  double q_pan_;
121 
122 public:
124  virtual ~vpSimulatorPioneerPan();
125 
126 public:
127  void get_eJe(vpMatrix &eJe);
128 
129  void getPosition(vpHomogeneousMatrix &wMc) const;
131  void setVelocity(const vpRobot::vpControlFrameType frame,
132  const vpColVector &vel) ;
133 
134 private:
135  void init() ;
136 
137  // Non implemented virtual pure functions
138  void get_fJe(vpMatrix & /*_fJe */) {};
139  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) {};
140  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) {};
141 } ;
142 
143 #endif
144 
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.
vpHomogeneousMatrix wMc_
robot / camera location in the world frame
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
vpControlFrameType
Definition: vpRobot.h:78
Generic functions for Pioneer mobile robots equiped with a pan head.
Definition: vpPioneerPan.h:99
vpHomogeneousMatrix wMm_
This class aims to be a basis used to create all the robot simulators.
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.
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
Class that defines the Pioneer mobile robot simulator equipped with a camera able to move in pan...
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...