Visual Servoing Platform  version 3.1.0
vpUnicycle.h
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
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13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
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17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Common features for unicycle mobile robots.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 #ifndef VPUNICYCLE_H
39 #define VPUNICYCLE_H
40 
41 #include <visp3/core/vpHomogeneousMatrix.h>
42 #include <visp3/core/vpTranslationVector.h>
43 #include <visp3/core/vpVelocityTwistMatrix.h>
44 
56 class VISP_EXPORT vpUnicycle
57 {
58 public:
62  vpUnicycle() : cMe_(), eJe_(){};
66  virtual ~vpUnicycle(){};
67 
74  vpHomogeneousMatrix get_cMe() const { return cMe_; }
75 
83  {
85  cVe.buildFrom(cMe_);
86  return cVe;
87  }
88 
97  void get_cVe(vpVelocityTwistMatrix &cVe) const { cVe = get_cVe(); }
98 
107  vpMatrix get_eJe() const { return eJe_; }
108 
113  void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
114 
123  void set_eJe(const vpMatrix &eJe) { eJe_ = eJe; }
125 
126 protected:
127  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
128  vpMatrix eJe_; // Robot jacobian
129 };
130 
131 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
vpVelocityTwistMatrix get_cVe() const
Definition: vpUnicycle.h:82
vpHomogeneousMatrix get_cMe() const
Definition: vpUnicycle.h:74
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:113
Implementation of an homogeneous matrix and operations on such kind of matrices.
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:123
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:56
vpMatrix eJe_
Definition: vpUnicycle.h:128
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpUnicycle.h:97
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
vpMatrix get_eJe() const
Definition: vpUnicycle.h:107
vpHomogeneousMatrix cMe_
Definition: vpUnicycle.h:127
virtual ~vpUnicycle()
Definition: vpUnicycle.h:66