vpPioneer.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Common features for Pioneer unicycle mobile robots.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef VPPIONEER_H
#define VPPIONEER_H

#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/robot/vpUnicycle.h>

class VISP_EXPORT vpPioneer : public vpUnicycle
{
public:
  vpPioneer() : vpUnicycle()
  {
    set_cMe();
    set_eJe();
  }

  virtual ~vpPioneer(){};

private:
  void set_cMe()
  {
    // Position of mobile platform end effector frame in the camera frame
    double l = 0.13;         // distance between the camera frame and the mobile robot frame
    vpTranslationVector cte; // meters
    vpRxyzVector cre;        // radian
    cte.set(0, 0, -l);
    cre.buildFrom(vpMath::rad(90.), 0, vpMath::rad(90.));
    cMe_.buildFrom(cte, vpRotationMatrix(cre));
  }

  void set_eJe()
  {
    eJe_.resize(6, 2); // pioneer jacobian expressed at point M
    eJe_ = 0;
    eJe_[0][0] = 1; // vx
    eJe_[5][1] = 1; // wz
  }
};

#endif