Visual Servoing Platform
version 3.2.0 under development (2019-01-22)
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#include <visp3/robot/vpUnicycle.h>
Public Member Functions | |
vpUnicycle () | |
virtual | ~vpUnicycle () |
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 unicycle mobile robots.
This class provides common features for unicycle mobile robots.
Definition at line 56 of file vpUnicycle.h.
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Default constructor that does nothing.
Definition at line 62 of file vpUnicycle.h.
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inlinevirtual |
Destructor that does nothing.
Definition at line 66 of file vpUnicycle.h.
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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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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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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 get_cVe().
Referenced by get_cVe().
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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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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().
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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::vpPioneerPan(), and vpPioneer::~vpPioneer().
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Definition at line 127 of file vpUnicycle.h.
Referenced by vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().
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Definition at line 128 of file vpUnicycle.h.