Visual Servoing Platform  version 3.0.0
vpSimulatorPioneer.h
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3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
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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
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25  * Inria at visp@inria.fr
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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  * Pioneer mobile robot simulator without display.
32  *
33  * Authors:
34  * Fabien Spindler
35  *
36  *****************************************************************************/
37 
38 
39 #ifndef vpSimulatorPioneer_H
40 #define vpSimulatorPioneer_H
41 
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/robot/vpPioneer.h>
51 #include <visp3/robot/vpRobot.h>
52 #include <visp3/robot/vpRobotSimulator.h>
53 
100 class VISP_EXPORT vpSimulatorPioneer : public vpPioneer, public vpRobotSimulator
101 {
102 
103 protected:
104  // world to camera
106  // world to end effector frame which is also the mobile
107  // robot frame located between the two wheels
109  // cMe_ is a protected member of vpUnicycle
110 
111  double xm_;
112  double ym_;
113  double theta_;
114 
115 public:
117  virtual ~vpSimulatorPioneer();
118 
119 public:
120  void get_eJe(vpMatrix &eJe);
121 
122  void getPosition(vpHomogeneousMatrix &wMc) const;
124  void setVelocity(const vpRobot::vpControlFrameType frame,
125  const vpColVector &vel) ;
126 
127 private:
128  void init() ;
129 
130  // Non implemented virtual pure functions
131  void get_fJe(vpMatrix & /*_fJe */) {};
132  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) {};
133  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) {};
134 
135 } ;
136 
137 #endif
138 
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.
vpHomogeneousMatrix wMe_
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the Pioneer mobile robot simulator equipped with a static camera.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
vpControlFrameType
Definition: vpRobot.h:76
This class aims to be a basis used to create all the robot simulators.
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.
vpHomogeneousMatrix wMc_
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...