#include <visp3/robot/vpSimulatorPioneer.h>

Inheritance diagram for vpSimulatorPioneer:

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
	vpSimulatorPioneer ()

virtual	~vpSimulatorPioneer ()

Inherited functionalities from vpSimulatorPioneer
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)

Inherited functionalities from vpUnicycle
void	set_cMe (const vpHomogeneousMatrix &cMe)

void	set_eJe (const vpMatrix &eJe)

vpHomogeneousMatrix	get_cMe () const

vpVelocityTwistMatrix	get_cVe () const

void	get_cVe (vpVelocityTwistMatrix &cVe) const

vpMatrix	get_eJe () const

Inherited functionalities from vpRobotSimulator
double	getSamplingTime () const

virtual void	setSamplingTime (const double &delta_t)

Inherited functionalities from vpRobot
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 Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Protected Member Functions
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

vpControlFrameType	getRobotFrame (void) const

Protected Attributes
vpHomogeneousMatrix	wMc_

vpHomogeneousMatrix	wMe_

double	xm_

double	ym_

double	theta_

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 static camera.

It intends to simulate the mobile robot described in vpPioneer class. This robot has 2 dof: $(v_x, w_z)$ , the translational and rotational velocities that are applied at point E.

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/vpSimulatorPioneer.h>
int main()
{
  vpHomogeneousMatrix wMc;
  vpSimulatorPioneer 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(2); // we control vx and wz dof
  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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 103 of file vpSimulatorPioneer.h.

Member Enumeration Documentation

◆ vpControlFrameType

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 75 of file vpRobot.h.

◆ vpRobotStateType

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

◆ vpSimulatorPioneer()

vpSimulatorPioneer::vpSimulatorPioneer ( )

Constructor.

Definition at line 56 of file vpSimulatorPioneer.cpp.

References vpRobot::areJointLimitsAvailable, vpUnicycle::cMe_, vpRobot::eJeAvailable, vpRobot::fJeAvailable, vpHomogeneousMatrix::inverse(), vpRobot::nDof, vpRobot::qmax, vpRobot::qmin, theta_, wMc_, wMe_, xm_, and ym_.

◆ ~vpSimulatorPioneer()

vpSimulatorPioneer::~vpSimulatorPioneer ( )

virtual

Destructor.

Definition at line 85 of file vpSimulatorPioneer.cpp.

Member Function Documentation

◆ get_cMe()

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.

◆ get_cVe() [1/2]

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 82 of file vpUnicycle.h.

References vpVelocityTwistMatrix::buildFrom().

◆ get_cVe() [2/2]

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 97 of file vpUnicycle.h.

References vpUnicycle::get_cVe().

Referenced by vpUnicycle::get_cVe().

◆ get_eJe() [1/2]

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 107 of file vpUnicycle.h.

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

◆ get_eJe() [2/2]

void vpSimulatorPioneer::get_eJe ( vpMatrix & _eJe )

virtual

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

Parameters

_eJe	: A 6 by 2 matrix representing the robot jacobian ${^e}{\bf J}_e$ expressed in the end-effector frame.

Implements vpRobot.

Examples:: tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 94 of file vpSimulatorPioneer.cpp.

References vpUnicycle::get_eJe().

◆ getMaxRotationVelocity()

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 273 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

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

◆ getMaxTranslationVelocity()

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 251 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

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

◆ getPosition() [1/3]

void vpSimulatorPioneer::getPosition ( vpHomogeneousMatrix & wMc ) const

Get the robot position in the world frame.

Examples:: tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 171 of file vpSimulatorPioneer.cpp.

References wMc_.

◆ getPosition() [2/3]

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

virtual

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

Implements vpRobot.

Definition at line 192 of file vpSimulatorPioneer.cpp.

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

◆ getPosition() [3/3]

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

inherited

Return the current robot position in the specified frame.

Definition at line 216 of file vpRobot.cpp.

References vpRobot::getPosition().

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 167 of file vpRobot.h.

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

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 139 of file vpRobot.h.

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

◆ getSamplingTime()

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 82 of file vpRobotSimulator.h.

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

◆ saturateVelocities()

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(), vpRobotCamera::setVelocity(), setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ set_cMe()

void vpUnicycle::set_cMe ( const vpHomogeneousMatrix & cMe )

inlineinherited

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

Definition at line 113 of file vpUnicycle.h.

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

◆ set_eJe()

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 123 of file vpUnicycle.h.

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

◆ setMaxRotationVelocity()

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, servoSimuSphere.cpp, and testFeatureSegment.cpp.

Definition at line 260 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

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

◆ setMaxTranslationVelocity()

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, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 239 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

◆ setRobotFrame()

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

protectedinherited

Definition at line 207 of file vpRobot.cpp.

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

◆ setRobotState()

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

virtualinherited

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

Examples:: moveBiclops.cpp, photometricVisualServoing.cpp, servoBiclopsPoint2DArtVelocity.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 vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpSimulatorAfma6::setPositioningVelocity(), vpSimulatorViper850::setPositioningVelocity(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpRobotAfma4::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

◆ setSamplingTime()

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 91 of file vpRobotSimulator.h.

Referenced by vpVirtualGrabber::acquire().

◆ setVelocity()

void vpSimulatorPioneer::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 $(v_x, \omega_z)$ to apply to the robot, where is the linear translational velocity in m/s and $\omega_z$ is the rotational velocity in rad/s arround the vertical axis.

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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 113 of file vpSimulatorPioneer.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, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpRobot::setRobotFrame(), vpRobot::setRobotState(), vpArray2D< Type >::size(), vpRobot::STATE_VELOCITY_CONTROL, theta_, vpERROR_TRACE, wMc_, wMe_, vpRobotException::wrongStateError, xm_, and ym_.

◆ setVerbose()

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 154 of file vpRobot.h.

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

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 107 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ cMe_

vpHomogeneousMatrix vpUnicycle::cMe_

protectedinherited

Definition at line 127 of file vpUnicycle.h.

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

◆ delta_t_

double vpRobotSimulator::delta_t_

protectedinherited

Definition at line 65 of file vpRobotSimulator.h.

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

◆ eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 99 of file vpRobot.h.

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

◆ eJe_

vpMatrix vpUnicycle::eJe_

protectedinherited

Definition at line 128 of file vpUnicycle.h.

◆ eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

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

Definition at line 101 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 103 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 105 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 93 of file vpRobot.h.

Referenced by vpRobot::getMaxRotationVelocity(), vpRobot::operator=(), vpRobot::setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 94 of file vpRobot.h.

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 91 of file vpRobot.h.

Referenced by vpRobot::getMaxTranslationVelocity(), vpRobot::operator=(), and vpRobot::setMaxTranslationVelocity().

◆ maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 92 of file vpRobot.h.

◆ nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 97 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ qmax

double* vpRobot::qmax

protectedinherited

Definition at line 109 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer(), vpSimulatorPioneerPan::vpSimulatorPioneerPan(), and vpRobot::~vpRobot().

◆ qmin

double* vpRobot::qmin

protectedinherited

Definition at line 108 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer(), vpSimulatorPioneerPan::vpSimulatorPioneerPan(), and vpRobot::~vpRobot().

◆ theta_

double vpSimulatorPioneer::theta_

protected

Definition at line 116 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

◆ verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 111 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().

◆ wMc_

vpHomogeneousMatrix vpSimulatorPioneer::wMc_

protected

Definition at line 108 of file vpSimulatorPioneer.h.

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

◆ wMe_

vpHomogeneousMatrix vpSimulatorPioneer::wMe_

protected

Definition at line 111 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

◆ xm_

double vpSimulatorPioneer::xm_

protected

Definition at line 114 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

◆ ym_

double vpSimulatorPioneer::ym_

protected

Definition at line 115 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ vpControlFrameType

◆ vpRobotStateType

Constructor & Destructor Documentation

◆ vpSimulatorPioneer()

◆ ~vpSimulatorPioneer()

Member Function Documentation

◆ get_cMe()

◆ get_cVe() [1/2]

◆ get_cVe() [2/2]

◆ get_eJe() [1/2]

◆ get_eJe() [2/2]

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getPosition() [1/3]

◆ getPosition() [2/3]

◆ getPosition() [3/3]

◆ getRobotFrame()

◆ getRobotState()

◆ getSamplingTime()

◆ saturateVelocities()

◆ set_cMe()

◆ set_eJe()

◆ setMaxRotationVelocity()

◆ setMaxTranslationVelocity()

◆ setRobotFrame()

◆ setRobotState()

◆ setSamplingTime()

◆ setVelocity()

◆ setVerbose()

Member Data Documentation

◆ areJointLimitsAvailable

◆ cMe_

◆ delta_t_

◆ eJe

◆ eJe_

◆ eJeAvailable

◆ fJe

◆ fJeAvailable

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

◆ maxTranslationVelocity

◆ maxTranslationVelocityDefault

◆ nDof

◆ qmax

◆ qmin

◆ theta_

◆ verbose_

◆ wMc_

◆ wMe_

◆ xm_

◆ ym_