38 #ifndef VPPIONEERPAN_H 39 #define VPPIONEERPAN_H 41 #include <visp3/core/vpHomogeneousMatrix.h> 42 #include <visp3/core/vpRxyzVector.h> 43 #include <visp3/core/vpTranslationVector.h> 44 #include <visp3/robot/vpUnicycle.h> 148 double px = mMp_[0][3];
149 double py = mMp_[1][3];
150 double c1 = cos(q_pan);
151 double s1 = sin(q_pan);
158 eJe_[0][1] = -c1 * py - s1 * px;
161 eJe_[2][1] = -s1 * py + c1 * px;
183 eRc[0][0] = eRc[1][1] = eRc[2][2] = 0;
209 mRp[1][1] = mRp[2][2] = -1.;
226 pRe[0][2] = pRe[1][0] = sin(q);
227 pRe[1][1] = pRe[2][2] = 0.;
229 pRe[1][2] = -pRe[0][0];
void set_pMe(const double q)
void set_cMe(const vpHomogeneousMatrix &cMe)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void set_eJe(const vpMatrix &eJe)
Generic functions for Pioneer mobile robots equiped with a pan head.
Implementation of a rotation matrix and operations on such kind of matrices.
Generic functions for unicycle mobile robots.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
vpHomogeneousMatrix inverse() const
void set(const double tx, const double ty, const double tz)
void set_eJe(double q_pan)
Class that consider the case of a translation vector.