vpUnicycle Class Reference

#include <visp3/robot/vpUnicycle.h>

Inheritance diagram for vpUnicycle:

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_

Detailed Description

Generic functions for unicycle mobile robots.

This class provides common features for unicycle mobile robots.

Examples:

mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, and mbot-apriltag-pbvs.cpp.

Definition at line 56 of file vpUnicycle.h.

Constructor & Destructor Documentation

vpUnicycle()

vpUnicycle::vpUnicycle ( )

inline

Default constructor that does nothing.

Definition at line 62 of file vpUnicycle.h.

~vpUnicycle()

virtual vpUnicycle::~vpUnicycle ( )

inlinevirtual

Destructor that does nothing.

Definition at line 66 of file vpUnicycle.h.

Member Function Documentation

get_cMe()

vpHomogeneousMatrix vpUnicycle::get_cMe ( ) const

inline

Return the tranformation between the camera frame and the mobile robot end effector frame.

Definition at line 74 of file vpUnicycle.h.

get_cVe() [1/2]

vpVelocityTwistMatrix vpUnicycle::get_cVe ( ) const

inline

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.

Examples:

servoBiclopsPoint2DArtVelocity.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 82 of file vpUnicycle.h.

References vpVelocityTwistMatrix::buildFrom().

get_cVe() [2/2]

void vpUnicycle::get_cVe ( vpVelocityTwistMatrix &  cVe ) const

inline

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.

See also

get_cVe()

Definition at line 97 of file vpUnicycle.h.

References get_cVe().

Referenced by get_cVe().

get_eJe()

vpMatrix vpUnicycle::get_eJe ( ) const

inline

Return the robot jacobian expressed in the end effector frame.

Returns

The robot jacobian such as with the robot control velocities and the six dimention velocity skew.

Examples:

servoPioneerPanSegment3D.cpp.

Definition at line 107 of file vpUnicycle.h.

Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and vpSimulatorPioneerPan::get_eJe().

set_cMe()

void vpUnicycle::set_cMe ( const vpHomogeneousMatrix &  cMe )

inline

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().

set_eJe()

void vpUnicycle::set_eJe ( const vpMatrix &  eJe )

inline

Set the robot jacobian expressed in the end effector frame.

Parameters

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().

Member Data Documentation

cMe_

vpHomogeneousMatrix vpUnicycle::cMe_

protected

Definition at line 127 of file vpUnicycle.h.

Referenced by vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

eJe_

vpMatrix vpUnicycle::eJe_

protected

Definition at line 128 of file vpUnicycle.h.