ViSP  2.9.0
vpPioneer.h
1 /****************************************************************************
2  *
3  * $Id: vpPioneer.h 4574 2014-01-09 08:48:51Z fspindle $
4  *
5  * This file is part of the ViSP software.
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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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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 Pioneer unicycle mobile robots.
36  *
37  * Authors:
38  * Fabien Spindler
39  *
40  *****************************************************************************/
41 #ifndef VPPIONEER_H
42 #define VPPIONEER_H
43 
44 #include <visp/vpRxyzVector.h>
45 #include <visp/vpTranslationVector.h>
46 #include <visp/vpUnicycle.h>
47 
48 
94 class VISP_EXPORT vpPioneer: public vpUnicycle
95 {
96 public:
101  {
102  set_cMe();
103  set_eJe();
104  }
105 
109  virtual ~vpPioneer() {};
110 
111 private:
116  void set_cMe()
117  {
118  // Position of the camera in the mobile platform frame
119  double l = 0.13; // distance between the camera frame and the mobile robot frame
120  vpTranslationVector cte; // meters
121  vpRxyzVector cre; // radian
122  cte.set(0, 0, -l);
123  cre.buildFrom(vpMath::rad(90.), 0, vpMath::rad(90.));
124  cMe_.buildFrom(cte, vpRotationMatrix(cre));
125  }
126 
149  void set_eJe()
150  {
151  eJe_.resize(6, 2); // pioneer jacobian expressed at point M
152  eJe_ = 0;
153  eJe_[0][0] = 1; // vx
154  eJe_[5][1] = 1; // wz
155  }
156 };
157 
158 #endif
159 
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:123
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:134
The vpRotationMatrix considers the particular case of a rotation matrix.
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:60
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:94
static double rad(double deg)
Definition: vpMath.h:100
virtual ~vpPioneer()
Definition: vpPioneer.h:109
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
Definition: vpRxyzVector.h:152
void set(const double tx, const double ty, const double tz)
void buildFrom(const double phi, const double theta, const double psi)
Definition: vpRxyzVector.h:184
Class that consider the case of a translation vector.