Visual Servoing Platform  version 3.0.0
vpSimulatorPioneerPan Class Reference

#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.

pioneer-pan.png

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

#include <visp3/robot/vpSimulatorPioneerPan.h>
int main()
{
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
// 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

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::getMaxTranslationVelocity ( void  ) const
inherited
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
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
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
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().

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
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
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().

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().