Visual Servoing Platform  version 3.6.1 under development (2024-06-22)

#include <visp3/robot/vpPioneerPan.h>

+ Inheritance diagram for vpPioneerPan:

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)
 

Detailed Description

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 $(v_x, w_z, \dot{q_1})$, 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

\[{\bf v} = {^e}{\bf J}_e \; \left(\begin{array}{c} v_x \\ w_z \\ \dot{q_1} \\ \end{array} \right) \]

with $(v_x, w_z)$ respectively the translational and rotational control velocities of the mobile platform, $\dot{q_1}$ the joint velocity of the pan head and $\bf v$ the six dimension velocity skew expressed at point E in frame E, the robot jacobian is given by:

\[ {^e}{\bf J}_e = \left(\begin{array}{ccc} c_1 & -c_1*p_y - s_1*p_x & 0 \\ 0 & 0 & 0 \\ s_1 & -s_1*p_y + c_1*p_x & 0 \\ 0 & 0 & 0 \\ 0 & -1 & 1 \\ 0 & 0 & 0 \\ \end{array} \right) \]

with $p_x, p_y$ the position of the head base frame in the mobile platform frame located at the middle point between the two wheels.

Examples
servoPioneerPanSegment3D.cpp.

Definition at line 92 of file vpPioneerPan.h.

Constructor & Destructor Documentation

◆ vpPioneerPan()

vpPioneerPan::vpPioneerPan ( )
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().

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]

◆ 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() [1/2]

void vpPioneerPan::set_cMe ( )
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::build(), and vpHomogeneousMatrix::inverse().

◆ set_cMe() [2/2]

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::vpPioneer(), and vpPioneerPan().

◆ set_eJe() [1/2]

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::vpPioneer(), and vpPioneerPan().

◆ set_eJe() [2/2]

void vpPioneerPan::set_eJe ( double  q_pan)
inline

Set the robot jacobian expressed at point E the end effector frame located on the pan head.

Considering ${\bf v} = {^e}{\bf J}_e \; [v_x, w_z, \dot{q_1}]$ with $(v_x, w_z)$ respectively the translational and rotational control velocities of the mobile platform, $\dot{q_1}$ the joint velocity of the pan head and $\bf v$ the six dimension velocity skew expressed at point E in frame E, the robot jacobian is given by:

\[ {^e}{\bf J}_e = \left(\begin{array}{ccc} c_1 & -c_1*p_y - s_1*p_x & 0 \\ 0 & 0 & 0 \\ s_1 & -s_1*p_y + c_1*p_x & 0 \\ 0 & 0 & 0 \\ 0 & -1 & 1 \\ 0 & 0 & 0 \\ \end{array} \right) \]

with $p_x, p_y$ the position of the head base frame in the mobile platform frame located at the middle point between the two wheels.

Examples
servoPioneerPanSegment3D.cpp.

Definition at line 135 of file vpPioneerPan.h.

Referenced by vpSimulatorPioneerPan::setVelocity().

◆ set_mMp()

void vpPioneerPan::set_mMp ( )
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().

◆ set_pMe()

void vpPioneerPan::set_pMe ( const double  q)
inlineprotected

Set the transformation between the pan head reference frame and the end-effector frame.

Parameters
q: Position in rad of the pan axis.

Definition at line 210 of file vpPioneerPan.h.

References vpArray2D< Type >::insert().

Referenced by vpSimulatorPioneerPan::setVelocity().

Member Data Documentation

◆ cMe_

vpHomogeneousMatrix vpUnicycle::cMe_
protectedinherited

◆ eJe_

vpMatrix vpUnicycle::eJe_
protectedinherited

Definition at line 117 of file vpUnicycle.h.

◆ mMp_

vpHomogeneousMatrix vpPioneerPan::mMp_
protected

Definition at line 224 of file vpPioneerPan.h.

Referenced by vpSimulatorPioneerPan::setVelocity().

◆ pMe_

vpHomogeneousMatrix vpPioneerPan::pMe_
protected

Definition at line 225 of file vpPioneerPan.h.

Referenced by vpSimulatorPioneerPan::setVelocity().