#include <visp3/robot/vpSimulatorPioneerPan.h>

Inheritance diagram for vpSimulatorPioneerPan:

Public Types
enum	vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }

enum	vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, CAMERA_FRAME, MIXT_FRAME }

Public Member Functions
	vpSimulatorPioneerPan ()

virtual	~vpSimulatorPioneerPan ()

void	get_eJe (vpMatrix &eJe)

void	getPosition (vpHomogeneousMatrix &wMc) const

void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)

void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)

void	set_eJe (double q_pan)

void	set_eJe (const vpMatrix &eJe)

void	set_cMe (const vpHomogeneousMatrix &cMe)

vpHomogeneousMatrix	get_cMe () const

vpVelocityTwistMatrix	get_cVe () const

void	get_cVe (vpVelocityTwistMatrix &cVe) const

vpMatrix	get_eJe () const

double	getSamplingTime () const

virtual void	setSamplingTime (const double &delta_t)

double	getMaxTranslationVelocity (void) const

double	getMaxRotationVelocity (void) const

vpColVector	getPosition (const vpRobot::vpControlFrameType frame)

virtual vpRobotStateType	getRobotState (void) const

void	setMaxRotationVelocity (const double maxVr)

void	setMaxTranslationVelocity (const double maxVt)

virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)

void	setVerbose (bool verbose)

Static Public Member Functions
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Protected Member Functions
void	set_cMe ()

void	set_mMp ()

void	set_pMe (const double q)

vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

vpControlFrameType	getRobotFrame (void) const

Protected Attributes
vpHomogeneousMatrix	wMc_

vpHomogeneousMatrix	wMm_

double	xm_

double	ym_

double	theta_

double	q_pan_

vpHomogeneousMatrix	mMp_

vpHomogeneousMatrix	pMe_

vpHomogeneousMatrix	cMe_

vpMatrix	eJe_

double	delta_t_

double	maxTranslationVelocity

double	maxRotationVelocity

int	nDof

vpMatrix	eJe

int	eJeAvailable

vpMatrix	fJe

int	fJeAvailable

int	areJointLimitsAvailable

double *	qmin

double *	qmax

bool	verbose_

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2

static const double	maxRotationVelocityDefault = 0.7

Detailed Description

Class that defines the Pioneer mobile robot simulator equipped with a camera able to move in pan.

It intends to simulate the mobile robot described in vpPioneerPan class. This robot has 3 dof: $(v_x, w_z, \dot{q_1})$ , the translational and rotational velocities of the mobile platform, the pan head velocity respectively.

The robot position evolves with respect to a world frame; wMc. When a new joint velocity is applied to the robot using setVelocity(), the position of the camera wrt the world frame is updated.

The following code shows how to control this robot in position and velocity.

#include <visp3/robot/vpSimulatorPioneerPan.h>
int main()
{
  vpHomogeneousMatrix wMc;
  vpSimulatorPioneerPan robot;
  robot.getPosition(wMc); // Position of the camera in the world frame
  std::cout << "Default position of the camera in the world frame wMc:\n" << wMc << std::endl;
  robot.setSamplingTime(0.100); // Modify the default sampling time to 0.1 second
  robot.setMaxTranslationVelocity(1.); // vx max set to 1 m/s
  robot.setMaxRotationVelocity(vpMath::rad(90)); // wz max set to 90 deg/s
  vpColVector v(3); // we control vx, wz and q_pan
  v = 0;
  v[0] = 1.; // set vx to 1 m/s
  robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
  // The robot has moved from 0.1 meters along the z axis
  robot.getPosition(wMc); // Position of the camera in the world frame
  std::cout << "New position of the camera wMc:\n" << wMc << std::endl;
}

The usage of this class is also highlighted in Tutorial: Visual servo simulation on a pioneer-like unicycle robot.

Examples:: tutorial-simu-pioneer-pan.cpp.

Definition at line 102 of file vpSimulatorPioneerPan.h.

Member Enumeration Documentation

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint space.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 76 of file vpRobot.h.

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.

Definition at line 64 of file vpRobot.h.

Constructor & Destructor Documentation

vpSimulatorPioneerPan::vpSimulatorPioneerPan ( )

Constructor.

Initialise the robot by a call to init().

Sampling time is set to 40 ms. To change it you should call setSamplingTime().

Definition at line 61 of file vpSimulatorPioneerPan.cpp.

vpSimulatorPioneerPan::~vpSimulatorPioneerPan ( )

virtual

Destructor.

Definition at line 98 of file vpSimulatorPioneerPan.cpp.

Member Function Documentation

vpHomogeneousMatrix vpUnicycle::get_cMe ( ) const

inlineinherited

Return the tranformation ${^c}{\bf M}_e$ between the camera frame and the mobile robot end effector frame.

Definition at line 74 of file vpUnicycle.h.

vpVelocityTwistMatrix vpUnicycle::get_cVe ( ) const

inlineinherited

Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.

Examples:: servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 85 of file vpUnicycle.h.

References vpVelocityTwistMatrix::buildFrom().

Referenced by vpUnicycle::get_cVe().

void vpUnicycle::get_cVe ( vpVelocityTwistMatrix & cVe ) const

inlineinherited

Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.

See also: get_cVe()

Definition at line 100 of file vpUnicycle.h.

References vpUnicycle::get_cVe().

vpMatrix vpUnicycle::get_eJe ( ) const

inlineinherited

Return the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Returns: The robot jacobian such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimention velocity skew.

Examples:: servoPioneerPanSegment3D.cpp.

Definition at line 111 of file vpUnicycle.h.

Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and get_eJe().

void vpSimulatorPioneerPan::get_eJe ( vpMatrix & _eJe )

virtual

Get the robot jacobian expressed in the end-effector frame. The jacobian expression is given in vpPioneerPan class.

Parameters

_eJe	: A 6 by 3 matrix representing the robot jacobian ${^e}{\bf J}_e$ expressed in the end-effector frame.

Implements vpRobot.

Examples:: tutorial-simu-pioneer-pan.cpp.

Definition at line 110 of file vpSimulatorPioneerPan.cpp.

References vpUnicycle::get_eJe().

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 275 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper850::setVelocity(), and vpRobotViper650::setVelocity().

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns: Maximum translation velocity expressed in m/s.

Definition at line 250 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper850::setVelocity(), and vpRobotViper650::setVelocity().

void vpSimulatorPioneerPan::getPosition ( vpHomogeneousMatrix & wMc ) const

Get the robot position in the world frame.

Examples:: tutorial-simu-pioneer-pan.cpp.

Definition at line 208 of file vpSimulatorPioneerPan.cpp.

References wMc_.

void vpSimulatorPioneerPan::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q
	)

virtual

Get the robot position (frame has to be specified).

Implements vpRobot.

Definition at line 231 of file vpSimulatorPioneerPan.cpp.

References vpRobot::ARTICULAR_FRAME, vpRxyzVector::buildFrom(), vpRobot::CAMERA_FRAME, vpHomogeneousMatrix::extract(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and wMc_.

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 218 of file vpRobot.cpp.

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 160 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 138 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpRobotPtu46::setPosition(), vpRobotBiclops::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma4::setPosition(), vpRobotAfma6::setPosition(), vpRobotViper850::setPosition(), vpRobotViper650::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper850::setRobotState(), vpRobotViper650::setRobotState(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), setVelocity(), vpRobotPtu46::setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper850::setVelocity(), vpRobotViper650::setVelocity(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotViper850::stopMotion(), and vpRobotViper650::stopMotion().

double vpRobotSimulator::getSamplingTime ( ) const

inlineinherited

Return the sampling time.

Returns: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Examples:: tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, and tutorial-simu-pioneer-continuous-gain-constant.cpp.

Definition at line 80 of file vpRobotSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = `false`
	)

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns: Saturated velocities.

Exceptions

vpRobotException::dimensionError : If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
#include <visp3/robot/vpRobot.h>
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
  return 0;
}

Definition at line 163 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), setVelocity(), vpRobotPioneer::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper850::setVelocity(), and vpRobotViper650::setVelocity().

void vpUnicycle::set_cMe ( const vpHomogeneousMatrix & cMe )

inlineinherited

Set the transformation between the camera frame and the end effector frame.

Definition at line 119 of file vpUnicycle.h.

Referenced by vpPioneer::vpPioneer(), and vpPioneerPan::vpPioneerPan().

void vpPioneerPan::set_cMe ( )

inlineprotectedinherited

Set the transformation between the camera frame and the pan head end effector frame.

Definition at line 164 of file vpPioneerPan.h.

References vpHomogeneousMatrix::buildFrom(), and vpHomogeneousMatrix::inverse().

void vpUnicycle::set_eJe ( const vpMatrix & eJe )

inlineinherited

Set the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Parameters

eJe	: The robot jacobian to set such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimention velocity skew.

Definition at line 130 of file vpUnicycle.h.

Referenced by vpPioneer::vpPioneer(), and vpPioneerPan::vpPioneerPan().

void vpPioneerPan::set_eJe ( double q_pan )

inlineinherited

Set the robot jacobian expressed at point E the end effector frame located on the pan head.

Considering ${\bf v} = {^e}{\bf J}_e \; [v_x, w_z, \dot{q_1}]$ with $(v_x, w_z)$ respectively the translational and rotational control velocities of the mobile platform, $\dot{q_1}$ the joint velocity of the pan head and $\bf v$ the six dimention velocity skew expressed at point E in frame E, the robot jacobian is given by:

${^e}{\bf J}_e = \left(\begin{array}{ccc} c_1 & -c_1*p_y - s_1*p_x & 0 \\ 0 & 0 & 0 \\ s_1 & -s_1*p_y + c_1*p_x & 0 \\ 0 & 0 & 0 \\ 0 & -1 & 1 \\ 0 & 0 & 0 \\ \end{array} \right)$

with $p_x, p_y$ the position of the head base frame in the mobile platform frame located at the middle point between the two weels.

Examples:: servoPioneerPanSegment3D.cpp.

Definition at line 140 of file vpPioneerPan.h.

Referenced by setVelocity().

void vpPioneerPan::set_mMp ( )

inlineprotectedinherited

Set the transformation between the mobile platform frame located at the middle point between the two weels and the base frame of the pan head.

Definition at line 187 of file vpPioneerPan.h.

References vpTranslationVector::set().

void vpPioneerPan::set_pMe ( const double q )

inlineprotectedinherited

Set the transformation between the pan head reference frame and the end-effector frame.

Parameters

q	: Position in rad of the pan axis.

Definition at line 210 of file vpPioneerPan.h.

Referenced by setVelocity().

void vpRobot::setMaxRotationVelocity ( const double w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max : Maximum rotation velocity expressed in rad/s.

Examples:: servoMomentPoints.cpp, servoSimu4Points.cpp, and servoSimuSphere.cpp.

Definition at line 262 of file vpRobot.cpp.

Referenced by vpRobotViper850::setMaxRotationVelocity(), vpRobotViper650::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().

void vpRobot::setMaxTranslationVelocity ( const double v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max : Maximum translation velocity expressed in m/s.

Examples:: servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 238 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 208 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType newState )

virtualinherited

Reimplemented in vpRobotViper650, vpRobotViper850, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, and vpRobotPtu46.

Examples:: moveBiclops.cpp, photometricVisualServoing.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 201 of file vpRobot.cpp.

Referenced by vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper850::setRobotState(), vpRobotViper650::setRobotState(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

virtual void vpRobotSimulator::setSamplingTime ( const double & delta_t )

inlinevirtualinherited

Set the sampling time.

Parameters

delta_t : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Reimplemented in vpRobotWireFrameSimulator.

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, photometricVisualServoing.cpp, servoMomentImage.cpp, servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 92 of file vpRobotSimulator.h.

void vpSimulatorPioneerPan::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	v
	)

virtual

Send to the controller a velocity.

Parameters

frame	: Control frame type. Only vpRobot::ARTICULAR_FRAME is implemented.
v	: Velocity vector $(v_x, w_z, \dot q)$ to apply to the robot.

Depending on the velocity specified as input, the robot position is updated using the sampling time that can be modified using setSamplingTime().

See also: setSamplingTime()

Implements vpRobot.

Examples:: tutorial-simu-pioneer-pan.cpp.

Definition at line 129 of file vpSimulatorPioneerPan.cpp.

References vpRobot::ARTICULAR_FRAME, vpHomogeneousMatrix::buildFrom(), vpRobot::CAMERA_FRAME, vpUnicycle::cMe_, vpRobotSimulator::delta_t_, vpException::dimensionError, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpHomogeneousMatrix::inverse(), vpRobot::MIXT_FRAME, vpPioneerPan::mMp_, vpPioneerPan::pMe_, q_pan_, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpPioneerPan::set_eJe(), vpPioneerPan::set_pMe(), vpRobot::setRobotFrame(), vpRobot::setRobotState(), vpArray2D< Type >::size(), vpRobot::STATE_VELOCITY_CONTROL, theta_, vpERROR_TRACE, wMc_, wMm_, vpRobotException::wrongStateError, xm_, and ym_.

void vpRobot::setVerbose ( bool verbose )

inlineinherited

Examples:: tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 156 of file vpRobot.h.

Referenced by vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

Member Data Documentation

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 109 of file vpRobot.h.

Referenced by vpRobot::operator=().

vpHomogeneousMatrix vpUnicycle::cMe_

protectedinherited

Definition at line 136 of file vpUnicycle.h.

Referenced by vpSimulatorPioneer::setVelocity(), and setVelocity().

double vpRobotSimulator::delta_t_

protectedinherited

Definition at line 65 of file vpRobotSimulator.h.

Referenced by vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), and setVelocity().

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 101 of file vpRobot.h.

Referenced by vpSimulatorCamera::get_eJe(), vpRobotCamera::get_eJe(), vpRobot::operator=(), and vpRobotAfma4::setVelocity().

vpMatrix vpUnicycle::eJe_

protectedinherited

Definition at line 137 of file vpUnicycle.h.

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 103 of file vpRobot.h.

Referenced by vpRobot::operator=().

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 105 of file vpRobot.h.

Referenced by vpRobot::operator=().

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

Referenced by vpRobot::operator=().

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 95 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 96 of file vpRobot.h.

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 93 of file vpRobot.h.

Referenced by vpRobot::operator=().

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 94 of file vpRobot.h.

vpHomogeneousMatrix vpPioneerPan::mMp_

protectedinherited

Definition at line 223 of file vpPioneerPan.h.

Referenced by setVelocity().

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 99 of file vpRobot.h.

Referenced by vpRobot::operator=().

vpHomogeneousMatrix vpPioneerPan::pMe_

protectedinherited

Definition at line 224 of file vpPioneerPan.h.

Referenced by setVelocity().

double vpSimulatorPioneerPan::q_pan_

protected

Definition at line 116 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity().

double* vpRobot::qmax

protectedinherited

Definition at line 111 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

double* vpRobot::qmin

protectedinherited

Definition at line 110 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

double vpSimulatorPioneerPan::theta_

protected

Definition at line 115 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity().

bool vpRobot::verbose_

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by vpRobotAfma4::init(), vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpRobot::operator=(), vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

vpHomogeneousMatrix vpSimulatorPioneerPan::wMc_

protected

robot / camera location in the world frame

Definition at line 107 of file vpSimulatorPioneerPan.h.

Referenced by getPosition(), and setVelocity().

vpHomogeneousMatrix vpSimulatorPioneerPan::wMm_

protected

Definition at line 108 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity().

double vpSimulatorPioneerPan::xm_

protected

Definition at line 113 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity().

double vpSimulatorPioneerPan::ym_

protected

Definition at line 114 of file vpSimulatorPioneerPan.h.

Referenced by setVelocity().

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

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