Visual Servoing Platform  version 3.0.0
vpRobotPioneer.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Interface for Pioneer mobile robots based on Aria 3rd party library.
32  *
33  * Authors:
34  * Fabien Spindler
35  *
36  *****************************************************************************/
37 #ifndef VPROBOTPIONEER_H
38 #define VPROBOTPIONEER_H
39 
40 #include <visp3/core/vpConfig.h>
41 
42 #ifdef VISP_HAVE_PIONEER
43 
44 #include <Aria.h>
45 
46 // Warning: vpMath.h included from vpRobot.h or vpPioneer.h should be
47 // included after Aria.h to avoid the build issue:
48 // "/usr/include/Aria/ariaUtil.h:732:21: error: ‘isfinite’ was not declared
49 // in this scope"
50 // This error is due to cmath header included from vpMath.h that makes
51 // isfinite() ambiguous between ::isfinite() and std::isfinite()
52 #include <visp3/robot/vpRobot.h>
53 #include <visp3/robot/vpPioneer.h>
54 
68 class VISP_EXPORT vpRobotPioneer: public vpRobot, public vpPioneer, public ArRobot
69 {
70 private: /* Not allowed functions. */
71 
75  vpRobotPioneer(const vpRobotPioneer &robot);
76 
77 public:
79  virtual ~vpRobotPioneer();
80 
92  void get_eJe(vpMatrix & eJe)
93  {
94  eJe = vpUnicycle::get_eJe();
95  }
96 
97 private: // Set as private since not implemented
102  void get_fJe(vpMatrix & /*fJe*/) {} ;
103 
108  void getDisplacement(const vpRobot::vpControlFrameType /*frame*/, vpColVector &/*q*/) {};
109 
110 public:
111  void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & velocity);
112  vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
113 
114 private: // Set as private since not implemented
119  void getPosition(const vpRobot::vpControlFrameType /*frame*/, vpColVector &/*q*/) {};
120 
121 public:
122  void init();
123 
124 private: // Set as private since not implemented
129  void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector &/*q*/) {};
130 
131 public:
132  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
133 
137  void useSonar(bool usage)
138  {
139  this->comInt(ArCommands::SONAR, usage);
140  }
141 
142 protected:
144 };
145 
146 #endif
147 
148 #endif // VPROBOTPIONEER_H
149 
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:92
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
void get_eJe(vpMatrix &eJe)
void useSonar(bool usage)
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Interface for Pioneer mobile robots based on Aria 3rd party library.
class that defines a generic virtual robot
Definition: vpRobot.h:58
vpControlFrameType
Definition: vpRobot.h:76
virtual void init()=0
vpMatrix get_eJe() const
Definition: vpUnicycle.h:111
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
Get the robot Jacobian expressed in the robot reference (or world) frame.
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:90
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Set the velocity (frame has to be specified) that will be applied to the velocity controller...