ViSP  2.8.0
vpUnicycle.h
1 /****************************************************************************
2  *
3  * $Id: vpUnicycle.h 4056 2013-01-05 13:04:42Z 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  * Common features for unicycle mobile robots.
36  *
37  * Authors:
38  * Fabien Spindler
39  *
40  *****************************************************************************/
41 #ifndef VPUNICYCLE_H
42 #define VPUNICYCLE_H
43 
44 #include <visp/vpHomogeneousMatrix.h>
45 #include <visp/vpTranslationVector.h>
46 #include <visp/vpVelocityTwistMatrix.h>
47 
48 
60 class VISP_EXPORT vpUnicycle
61 {
62 public:
67  {
68  };
72  virtual ~vpUnicycle() {};
73 
79  {
80  return cMe_;
81  }
82 
90  {
92  cVe.buildFrom(cMe_) ;
93  return cVe;
94  }
95 
105  {
106  cVe = vpUnicycle::get_cVe();
107  }
108 
116  {
117  return eJe_;
118  }
119 
123  void set_cMe(const vpHomogeneousMatrix &cMe)
124  {
125  cMe_ = cMe;
126  }
127 
134  void set_eJe(const vpMatrix &eJe)
135  {
136  eJe_ = eJe;
137  }
138 
139 protected:
140  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
141  vpMatrix eJe_; // Robot jacobian
142 };
143 
144 #endif
145 
146 
Definition of the vpMatrix class.
Definition: vpMatrix.h:96
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:123
vpHomogeneousMatrix get_cMe() const
Definition: vpUnicycle.h:78
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:134
vpVelocityTwistMatrix get_cVe() const
Definition: vpUnicycle.h:89
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpUnicycle.h:104
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:60
vpMatrix eJe_
Definition: vpUnicycle.h:141
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
vpMatrix get_eJe() const
Definition: vpUnicycle.h:115
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
vpHomogeneousMatrix cMe_
Definition: vpUnicycle.h:140
virtual ~vpUnicycle()
Definition: vpUnicycle.h:72