Visual Servoing Platform  version 3.6.1 under development (2024-12-17)
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vpPioneer Class Reference
robot: Robot module » Real robots » Unicycle robot | robot: Robot module » Robot simulation » Unicycle robot simulation

#include <visp3/robot/vpPioneer.h>

+ Inheritance diagram for vpPioneer:

Public Member Functions

 vpPioneer ()
 

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)
 
vpHomogeneousMatrix cMe_
 
vpMatrix eJe_
 

Detailed Description

Generic functions for Pioneer mobile robots.

This class provides common features for Pioneer mobile robots. This robot has two control velocities $(v_x, w_z)$, the translational and rotational velocities of the mobile platform respectively.

The figure below shows the position of the frames that are used to model the robot. The end effector frame is here located at the middle point between the two wheels.

The robot jacobian at the end effector frame, the point located at the middle between the two wheels is given by:

\[ {^e}{\bf J}_e = \left(\begin{array}{cc} 1 & 0 \\ 0 & 0 \\ 0 & 0 \\ 0 & 0 \\ 0 & 0 \\ 0 & 1 \\ \end{array} \right) \]

Considering $(v_x, w_z)$, it is possible to compute $\bf v$ the six dimension velocity skew expressed at the end effector frame by:

\[ {\bf v} = {^e}{\bf J}_e \; \left(\begin{array}{c} v_x \\ w_z \\ \end{array} \right) \]

.

Definition at line 86 of file vpPioneer.h.

Constructor & Destructor Documentation

◆ vpPioneer()

vpPioneer::vpPioneer ( )
inline

Create a default Pioneer robot.

Definition at line 92 of file vpPioneer.h.

References vpUnicycle::set_cMe(), and vpUnicycle::set_eJe().

Member Function Documentation

◆ get_cMe()

vpHomogeneousMatrix vpUnicycle::get_cMe ( ) const
inlineinherited

Return the transformation ${^c}{\bf M}_e$ between the camera frame and the mobile robot end effector frame.

Examples
servoAfma6Points2DCamVelocityEyeToHand.cpp, testRobotViper650-frames.cpp, and testRobotViper850-frames.cpp.

Definition at line 65 of file vpUnicycle.h.

◆ get_cVe() [1/2]

vpVelocityTwistMatrix vpUnicycle::get_cVe ( ) const
inlineinherited

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
servoAfma4Point2DArtVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, tutorial-flir-ptu-ibvs.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 72 of file vpUnicycle.h.

References vpVelocityTwistMatrix::buildFrom().

◆ get_cVe() [2/2]

void vpUnicycle::get_cVe ( vpVelocityTwistMatrix &  cVe) const
inlineinherited

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 86 of file vpUnicycle.h.

References vpUnicycle::get_cVe().

Referenced by vpUnicycle::get_cVe().

◆ get_eJe()

vpMatrix vpUnicycle::get_eJe ( ) const
inlineinherited

Return the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Returns
The robot jacobian such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimension velocity skew.
Examples
servoPioneerPanSegment3D.cpp.

Definition at line 96 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)
inlineinherited

Set the transformation between the camera frame and the end effector frame.

Definition at line 102 of file vpUnicycle.h.

Referenced by vpPioneer(), and vpPioneerPan::vpPioneerPan().

◆ set_eJe()

void vpUnicycle::set_eJe ( const vpMatrix &  eJe)
inlineinherited

Set the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Parameters
eJe: The robot jacobian to set such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimension velocity skew.

Definition at line 112 of file vpUnicycle.h.

Referenced by vpPioneer(), and vpPioneerPan::vpPioneerPan().

Member Data Documentation

◆ cMe_

vpHomogeneousMatrix vpUnicycle::cMe_
protectedinherited

Definition at line 116 of file vpUnicycle.h.

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

◆ eJe_

vpMatrix vpUnicycle::eJe_
protectedinherited

Definition at line 117 of file vpUnicycle.h.