Visual Servoing Platform
version 3.2.0 under development (2019-01-22)
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#include <visp3/robot/vpPioneerPan.h>
Public Member Functions | |
vpPioneerPan () | |
virtual | ~vpPioneerPan () |
Inherited functionalities from vpPioneerPan | |
void | set_eJe (double q_pan) |
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 Member Functions | |
Protected Member Functions Inherited from vpPioneerPan | |
void | set_cMe () |
void | set_mMp () |
void | set_pMe (const double q) |
Protected Attributes | |
vpHomogeneousMatrix | mMp_ |
vpHomogeneousMatrix | pMe_ |
vpHomogeneousMatrix | cMe_ |
vpMatrix | eJe_ |
Generic functions for Pioneer mobile robots equiped with a pan head.
This class provides common features for Pioneer mobile robots equiped with a pan head.
This robot has three control velocities , the translational and rotational velocities of the mobile platform, the pan head velocity 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 pan axis.
Considering
with respectively the translational and rotational control velocities of the mobile platform, the joint velocity of the pan head and the six dimention velocity skew expressed at point E in frame E, the robot jacobian is given by:
with the position of the head base frame in the mobile platform frame located at the middle point between the two weels.
Definition at line 97 of file vpPioneerPan.h.
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inline |
Create a pioneer mobile robot equiped with a pan head.
Definition at line 103 of file vpPioneerPan.h.
References vpUnicycle::set_cMe(), and vpUnicycle::set_eJe().
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inlinevirtual |
Destructor that does nothing.
Definition at line 115 of file vpPioneerPan.h.
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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::vpPioneer(), vpPioneerPan(), and vpPioneer::~vpPioneer().
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inlineprotected |
Set the transformation between the camera frame and the pan head end effector frame.
Definition at line 175 of file vpPioneerPan.h.
References vpHomogeneousMatrix::buildFrom(), and vpHomogeneousMatrix::inverse().
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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::vpPioneer(), vpPioneerPan(), and vpPioneer::~vpPioneer().
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inline |
Set the robot jacobian expressed at point E the end effector frame located on the pan head.
Considering with respectively the translational and rotational control velocities of the mobile platform, the joint velocity of the pan head and the six dimention velocity skew expressed at point E in frame E, the robot jacobian is given by:
with the position of the head base frame in the mobile platform frame located at the middle point between the two weels.
Definition at line 146 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity().
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inlineprotected |
Set the transformation between the mobile platform frame located at the middle point between the two weels and the base frame of the pan head.
Definition at line 199 of file vpPioneerPan.h.
References vpTranslationVector::set().
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inlineprotected |
Set the transformation between the pan head reference frame and the end-effector frame.
q | : Position in rad of the pan axis. |
Definition at line 222 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity().
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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.
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protected |
Definition at line 236 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().
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protected |
Definition at line 237 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().