Visual Servoing Platform  version 3.4.0
vpSimulatorPioneer.h
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30  *
31  * Description:
32  * Pioneer mobile robot simulator without display.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpSimulatorPioneer_H
40 #define vpSimulatorPioneer_H
41 
48 #include <visp3/core/vpColVector.h>
49 #include <visp3/core/vpHomogeneousMatrix.h>
50 #include <visp3/core/vpMatrix.h>
51 #include <visp3/robot/vpPioneer.h>
52 #include <visp3/robot/vpRobot.h>
53 #include <visp3/robot/vpRobotSimulator.h>
54 
103 class VISP_EXPORT vpSimulatorPioneer : public vpPioneer, public vpRobotSimulator
104 {
105 
106 protected:
107  // world to camera
109  // world to end effector frame which is also the mobile
110  // robot frame located between the two wheels
112  // cMe_ is a protected member of vpUnicycle
113 
114  double xm_;
115  double ym_;
116  double theta_;
117 
118 public:
120  virtual ~vpSimulatorPioneer();
121 
122 public:
125  void get_eJe(vpMatrix &eJe);
126 
127  void getPosition(vpHomogeneousMatrix &wMc) const;
129  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
131 
132 private:
133  void init();
134 
135  // Non implemented virtual pure functions
136  void get_fJe(vpMatrix & /*_fJe */){};
137  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */){};
138  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */){};
139 };
140 
141 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
vpHomogeneousMatrix wMe_
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the Pioneer mobile robot simulator equipped with a static camera.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
vpControlFrameType
Definition: vpRobot.h:75
This class aims to be a basis used to create all the robot simulators.
virtual void init()=0
vpMatrix get_eJe() const
Definition: vpUnicycle.h:107
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
vpHomogeneousMatrix wMc_
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:91
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0