Visual Servoing Platform
version 3.6.1 under development (2024-11-21)
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#include <visp3/robot/vpPioneerPan.h>
Public Member Functions | |
vpPioneerPan () | |
Inherited functionalities from vpPioneerPan | |
void | set_eJe (double q_pan) |
Protected Member Functions Inherited from vpPioneerPan | |
vpHomogeneousMatrix | mMp_ |
vpHomogeneousMatrix | pMe_ |
void | set_cMe () |
void | set_mMp () |
void | set_pMe (const double q) |
Inherited functionalities from vpUnicycle | |
vpHomogeneousMatrix | cMe_ |
vpMatrix | eJe_ |
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) |
Generic functions for Pioneer mobile robots equipped with a pan head.
This class provides common features for Pioneer mobile robots equipped with a pan head.
This robot has three control velocities , the translational and rotational velocities of the mobile platform, the pan head velocity 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 pan axis.
Considering
with respectively the translational and rotational control velocities of the mobile platform, the joint velocity of the pan head and the six dimension velocity skew expressed at point E in frame E, the robot jacobian is given by:
with the position of the head base frame in the mobile platform frame located at the middle point between the two wheels.
Definition at line 92 of file vpPioneerPan.h.
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inline |
Create a pioneer mobile robot equipped with a pan head.
Definition at line 98 of file vpPioneerPan.h.
References vpUnicycle::set_cMe(), and vpUnicycle::set_eJe().
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inlineinherited |
Return the transformation between the camera frame and the mobile robot end effector frame.
Definition at line 65 of file vpUnicycle.h.
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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.
Definition at line 72 of file vpUnicycle.h.
References vpVelocityTwistMatrix::buildFrom().
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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.
Definition at line 86 of file vpUnicycle.h.
References vpUnicycle::get_cVe().
Referenced by vpUnicycle::get_cVe().
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inlineinherited |
Return the robot jacobian expressed in the end effector frame.
Definition at line 96 of file vpUnicycle.h.
Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and vpSimulatorPioneerPan::get_eJe().
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inlineprotected |
Set the transformation between the camera frame and the pan head end effector frame.
Definition at line 164 of file vpPioneerPan.h.
References vpHomogeneousMatrix::buildFrom(), and vpHomogeneousMatrix::inverse().
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inlineinherited |
Set the transformation between the camera frame and the end effector frame.
Definition at line 102 of file vpUnicycle.h.
Referenced by vpPioneer::vpPioneer(), and vpPioneerPan().
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inlineinherited |
Set the robot jacobian expressed in the end effector frame.
eJe | : The robot jacobian to set such as with the robot control velocities and the six dimension velocity skew. |
Definition at line 112 of file vpUnicycle.h.
Referenced by vpPioneer::vpPioneer(), and vpPioneerPan().
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inline |
Set the robot jacobian expressed at point E the end effector frame located on the pan head.
Considering with respectively the translational and rotational control velocities of the mobile platform, the joint velocity of the pan head and the six dimension velocity skew expressed at point E in frame E, the robot jacobian is given by:
with the position of the head base frame in the mobile platform frame located at the middle point between the two wheels.
Definition at line 135 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity().
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inlineprotected |
Set the transformation between the mobile platform frame located at the middle point between the two wheels and the base frame of the pan head.
Definition at line 188 of file vpPioneerPan.h.
References vpArray2D< Type >::insert(), and vpTranslationVector::set().
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inlineprotected |
Set the transformation between the pan head reference frame and the end-effector frame.
q | : Position in rad of the pan axis. |
Definition at line 210 of file vpPioneerPan.h.
References vpArray2D< Type >::insert().
Referenced by vpSimulatorPioneerPan::setVelocity().
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protectedinherited |
Definition at line 116 of file vpUnicycle.h.
Referenced by vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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protectedinherited |
Definition at line 117 of file vpUnicycle.h.
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protected |
Definition at line 224 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity().
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protected |
Definition at line 225 of file vpPioneerPan.h.
Referenced by vpSimulatorPioneerPan::setVelocity().