Visual Servoing Platform
version 3.2.0 under development (2019-01-22)
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#include <visp3/robot/vpPioneer.h>
Public Member Functions | |
vpPioneer () | |
virtual | ~vpPioneer () |
Inherited functionalities from vpUnicycle | |
vpHomogeneousMatrix | get_cMe () const |
vpVelocityTwistMatrix | get_cVe () const |
void | get_cVe (vpVelocityTwistMatrix &cVe) const |
vpMatrix | get_eJe () const |
void | set_cMe (const vpHomogeneousMatrix &cMe) |
void | set_eJe (const vpMatrix &eJe) |
Protected Attributes | |
vpHomogeneousMatrix | cMe_ |
vpMatrix | eJe_ |
Generic functions for Pioneer mobile robots.
This class provides common features for Pioneer mobile robots. This robot has two control velocities , the translational and rotational velocities of the mobile platform respectively.
The figure below shows the position of the frames that are used to model the robot. The end effector frame is here located at the middle point between the two wheels.
The robot jacobian at the end effector frame, the point located at the middle between the two wheels is given by:
Considering , it is possible to compute the six dimention velocity skew expressed at the end effector frame by:
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Definition at line 91 of file vpPioneer.h.
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inline |
Create a default Pioneer robot.
Definition at line 97 of file vpPioneer.h.
References vpUnicycle::set_cMe(), and vpUnicycle::set_eJe().
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inlinevirtual |
Destructor that does nothing.
Definition at line 106 of file vpPioneer.h.
References vpRxyzVector::buildFrom(), vpMath::rad(), vpTranslationVector::set(), vpUnicycle::set_cMe(), and vpUnicycle::set_eJe().
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inlineinherited |
Return the tranformation between the camera frame and the mobile robot end effector frame.
Definition at line 74 of file vpUnicycle.h.
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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.
Definition at line 82 of file vpUnicycle.h.
References vpVelocityTwistMatrix::buildFrom().
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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.
Definition at line 97 of file vpUnicycle.h.
References vpUnicycle::get_cVe().
Referenced by vpUnicycle::get_cVe().
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inlineinherited |
Return the robot jacobian expressed in the end effector frame.
Definition at line 107 of file vpUnicycle.h.
Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and vpSimulatorPioneerPan::get_eJe().
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inlineinherited |
Set the transformation between the camera frame and the end effector frame.
Definition at line 113 of file vpUnicycle.h.
Referenced by vpPioneer(), vpPioneerPan::vpPioneerPan(), and ~vpPioneer().
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inlineinherited |
Set the robot jacobian expressed in the end effector frame.
eJe | : The robot jacobian to set such as with the robot control velocities and the six dimention velocity skew. |
Definition at line 123 of file vpUnicycle.h.
Referenced by vpPioneer(), vpPioneerPan::vpPioneerPan(), and ~vpPioneer().
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protectedinherited |
Definition at line 127 of file vpUnicycle.h.
Referenced by vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().
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protectedinherited |
Definition at line 128 of file vpUnicycle.h.