vpUnicycle.h

/****************************************************************************
 *
 * $Id: vpUnicycle.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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 unicycle mobile robots.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef VPUNICYCLE_H
#define VPUNICYCLE_H

#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpVelocityTwistMatrix.h>


class VISP_EXPORT vpUnicycle
{
public:
  vpUnicycle()
  {
  };
  virtual ~vpUnicycle() {};

  vpHomogeneousMatrix get_cMe() const
  {
    return cMe_;
  }

  vpVelocityTwistMatrix get_cVe() const
  {
    vpVelocityTwistMatrix cVe;
    cVe.buildFrom(cMe_) ;
    return cVe;
  }

  void get_cVe(vpVelocityTwistMatrix &cVe) const
  {
    cVe = vpUnicycle::get_cVe();
  }

  vpMatrix get_eJe() const
  {
    return eJe_;
  }

  void set_cMe(const vpHomogeneousMatrix &cMe)
  {
    cMe_ = cMe;
  }

  void set_eJe(const vpMatrix &eJe)
  {
    eJe_ = eJe;
  }

protected:
  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
  vpMatrix            eJe_; // Robot jacobian
};

#endif