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vpPioneer.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 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
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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  * Common features for Pioneer unicycle mobile robots.
32  *
33  * Authors:
34  * Fabien Spindler
35  *
36  *****************************************************************************/
37 #ifndef VPPIONEER_H
38 #define VPPIONEER_H
39 
40 #include <visp3/core/vpRxyzVector.h>
41 #include <visp3/core/vpTranslationVector.h>
42 #include <visp3/robot/vpUnicycle.h>
43 
44 
90 class VISP_EXPORT vpPioneer: public vpUnicycle
91 {
92 public:
97  {
98  set_cMe();
99  set_eJe();
100  }
101 
105  virtual ~vpPioneer() {};
106 
107 private:
112  void set_cMe()
113  {
114  // Position of the camera in the mobile platform frame
115  double l = 0.13; // distance between the camera frame and the mobile robot frame
116  vpTranslationVector cte; // meters
117  vpRxyzVector cre; // radian
118  cte.set(0, 0, -l);
119  cre.buildFrom(vpMath::rad(90.), 0, vpMath::rad(90.));
120  cMe_.buildFrom(cte, vpRotationMatrix(cre));
121  }
122 
145  void set_eJe()
146  {
147  eJe_.resize(6, 2); // pioneer jacobian expressed at point M
148  eJe_ = 0;
149  eJe_[0][0] = 1; // vx
150  eJe_[5][1] = 1; // wz
151  }
152 };
153 
154 #endif
155 
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:121
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:132
Implementation of a rotation matrix and operations on such kind of matrices.
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:56
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:90
static double rad(double deg)
Definition: vpMath.h:104
virtual ~vpPioneer()
Definition: vpPioneer.h:105
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:154
void set(const double tx, const double ty, const double tz)
Class that consider the case of a translation vector.
vpPioneer()
Definition: vpPioneer.h:96