Visual Servoing Platform  version 3.6.1 under development (2024-11-14)
vpSimulatorPioneer Class Reference

#include <visp3/robot/vpSimulatorPioneer.h>

+ Inheritance diagram for vpSimulatorPioneer:

Public Types

enum  vpRobotStateType {
  STATE_STOP , STATE_VELOCITY_CONTROL , STATE_POSITION_CONTROL , STATE_ACCELERATION_CONTROL ,
  STATE_FORCE_TORQUE_CONTROL
}
 
enum  vpControlFrameType {
  REFERENCE_FRAME , ARTICULAR_FRAME , JOINT_STATE = ARTICULAR_FRAME , END_EFFECTOR_FRAME ,
  CAMERA_FRAME , TOOL_FRAME = CAMERA_FRAME , MIXT_FRAME
}
 

Public Member Functions

 vpSimulatorPioneer ()
 
Inherited functionalities from vpRobotSimulator
double getSamplingTime () const
 
virtual void setSamplingTime (const double &delta_t)
 
Inherited functionalities from vpRobot
double getMaxTranslationVelocity (void) const
 
double getMaxRotationVelocity (void) const
 
int getNDof () const
 
vpColVector getPosition (const vpRobot::vpControlFrameType frame)
 
virtual vpRobotStateType getRobotState (void) const
 
void setMaxRotationVelocity (double maxVr)
 
void setMaxTranslationVelocity (double maxVt)
 
virtual vpRobotStateType setRobotState (const vpRobot::vpRobotStateType newState)
 
void setVerbose (bool verbose)
 

Static Public Member Functions

Static Public Member Functions inherited from vpRobot
static vpColVector saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
 

Protected Member Functions

Protected Member Functions Inherited from vpRobot
vpControlFrameType setRobotFrame (vpRobot::vpControlFrameType newFrame)
 
vpControlFrameType getRobotFrame (void) const
 

Protected Attributes

vpHomogeneousMatrix wMc_
 
vpHomogeneousMatrix wMe_
 
double xm_
 
double ym_
 
double theta_
 
double delta_t_
 
double maxTranslationVelocity
 
double maxRotationVelocity
 
int nDof
 
vpMatrix eJe
 
int eJeAvailable
 
vpMatrix fJe
 
int fJeAvailable
 
int areJointLimitsAvailable
 
double * qmin
 
double * qmax
 
bool verbose_
 

Static Protected Attributes

static const double maxTranslationVelocityDefault = 0.2
 
static const double maxRotationVelocityDefault = 0.7
 

Inherited functionalities from vpUnicycle

vpHomogeneousMatrix cMe_
 
vpMatrix eJe_
 
void set_cMe (const vpHomogeneousMatrix &cMe)
 
void set_eJe (const vpMatrix &eJe)
 
vpHomogeneousMatrix get_cMe () const
 
vpVelocityTwistMatrix get_cVe () const
 
void get_cVe (vpVelocityTwistMatrix &cVe) const
 
vpMatrix get_eJe () const
 

Inherited functionalities from vpSimulatorPioneer

void get_eJe (vpMatrix &eJe) VP_OVERRIDE
 
void getPosition (vpHomogeneousMatrix &wMc) const
 
void getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE
 
void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE
 

Detailed Description

Class that defines the Pioneer mobile robot simulator equipped with a static camera.

It intends to simulate the mobile robot described in vpPioneer class. This robot has 2 dof: $(v_x, w_z)$, the translational and rotational velocities that are applied at point E.

The robot position evolves with respect to a world frame; wMc. When a new joint velocity is applied to the robot using setVelocity(), the position of the camera wrt the world frame is updated.

The following code shows how to control this robot in position and velocity.

#include <visp3/robot/vpSimulatorPioneer.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "Default position of the camera in the world frame wMc:\n" << wMc << std::endl;
robot.setSamplingTime(0.100); // Modify the default sampling time to 0.1 second
robot.setMaxTranslationVelocity(1.); // vx max set to 1 m/s
robot.setMaxRotationVelocity(vpMath::rad(90)); // wz max set to 90 deg/s
vpColVector v(2); // we control vx and wz dof
v = 0;
v[0] = 1.; // set vx to 1 m/s
// The robot has moved from 0.1 meters along the z axis
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "New position of the camera wMc:\n" << wMc << std::endl;
}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Implementation of an homogeneous matrix and operations on such kind of matrices.
static double rad(double deg)
Definition: vpMath.h:129
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE
@ ARTICULAR_FRAME
Definition: vpRobot.h:80
void setMaxRotationVelocity(double maxVr)
Definition: vpRobot.cpp:261
void setMaxTranslationVelocity(double maxVt)
Definition: vpRobot.cpp:240
Class that defines the Pioneer mobile robot simulator equipped with a static camera.

The usage of this class is also highlighted in Tutorial: Visual servo simulation on a pioneer-like unicycle robot.

Examples
tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 103 of file vpSimulatorPioneer.h.

Member Enumeration Documentation

◆ vpControlFrameType

Robot control frames.

Enumerator
REFERENCE_FRAME 

Corresponds to a fixed reference frame attached to the robot structure.

ARTICULAR_FRAME 

Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.

JOINT_STATE 

Corresponds to the joint state.

END_EFFECTOR_FRAME 

Corresponds to robot end-effector frame.

CAMERA_FRAME 

Corresponds to a frame attached to the camera mounted on the robot end-effector.

TOOL_FRAME 

Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.

MIXT_FRAME 

Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 76 of file vpRobot.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType
inherited

Robot control states.

Enumerator
STATE_STOP 

Stops robot motion especially in velocity and acceleration control.

STATE_VELOCITY_CONTROL 

Initialize the velocity controller.

STATE_POSITION_CONTROL 

Initialize the position controller.

STATE_ACCELERATION_CONTROL 

Initialize the acceleration controller.

STATE_FORCE_TORQUE_CONTROL 

Initialize the force/torque controller.

Definition at line 64 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpSimulatorPioneer()

BEGIN_VISP_NAMESPACE vpSimulatorPioneer::vpSimulatorPioneer ( )

Constructor.

Definition at line 54 of file vpSimulatorPioneer.cpp.

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() [1/2]

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(), get_eJe(), and vpSimulatorPioneerPan::get_eJe().

◆ get_eJe() [2/2]

void vpSimulatorPioneer::get_eJe ( vpMatrix _eJe)
virtual

Get the robot jacobian expressed in the end-effector frame. The jacobian expression is given in vpPioneer class.

Parameters
_eJe: A 6 by 2 matrix representing the robot jacobian $ {^e}{\bf J}_e$ expressed in the end-effector frame.

Implements vpRobot.

Definition at line 86 of file vpSimulatorPioneer.cpp.

References vpUnicycle::get_eJe().

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void  ) const
inherited

◆ getNDof()

int vpRobot::getNDof ( ) const
inlineinherited

Return robot degrees of freedom number.

Examples
servoPololuPtuPoint2DJointVelocity.cpp.

Definition at line 145 of file vpRobot.h.

◆ getPosition() [1/3]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType  frame)
inherited

Return the current robot position in the specified frame.

Definition at line 217 of file vpRobot.cpp.

References vpRobot::getPosition().

◆ getPosition() [2/3]

void vpSimulatorPioneer::getPosition ( const vpRobot::vpControlFrameType  frame,
vpColVector position 
)
virtual

◆ getPosition() [3/3]

void vpSimulatorPioneer::getPosition ( vpHomogeneousMatrix wMc) const

Get the robot position in the world frame.

Definition at line 162 of file vpSimulatorPioneer.cpp.

References wMc_.

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void  ) const
inlineprotectedinherited

Definition at line 183 of file vpRobot.h.

◆ getRobotState()

◆ getSamplingTime()

double vpRobotSimulator::getSamplingTime ( ) const
inlineinherited

Return the sampling time.

Returns
Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Definition at line 73 of file vpRobotSimulator.h.

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities ( const vpColVector v_in,
const vpColVector v_max,
bool  verbose = false 
)
staticinherited

Saturate velocities.

Parameters
v_in: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose: Print a message indicating which axis causes the saturation.
Returns
Saturated velocities.
Exceptions
vpRobotException::dimensionError: If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
#include <visp3/robot/vpRobot.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
// Set a velocity skew vector
v[0] = 0.1; // vx in m/s
v[1] = 0.2; // vy
v[2] = 0.3; // vz
v[3] = vpMath::rad(10); // wx in rad/s
v[4] = vpMath::rad(-10); // wy
v[5] = vpMath::rad(20); // wz
// Set the maximal allowed velocities
vpColVector v_max(6);
for (int i=0; i<3; i++)
v_max[i] = 0.3; // in translation (m/s)
for (int i=3; i<6; i++)
v_max[i] = vpMath::rad(10); // in rotation (rad/s)
// Compute the saturated velocity skew vector
vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
std::cout << "v : " << v.t() << std::endl;
std::cout << "v max: " << v_max.t() << std::endl;
std::cout << "v sat: " << v_sat.t() << std::endl;
return 0;
}
vpRowVector t() const
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition: vpRobot.cpp:164

Definition at line 164 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ 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::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::vpPioneer(), and vpPioneerPan::vpPioneerPan().

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double  w_max)
inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters
w_max: Maximum rotational velocity expressed in rad/s.
Examples
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, testFeatureSegment.cpp, testFrankaJointVelocityLimits.cpp, and testRobotFlirPtu.cpp.

Definition at line 261 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpRobotViper650::setMaxRotationVelocity(), and vpRobotViper850::setMaxRotationVelocity().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double  v_max)
inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters
v_max: Maximum translation velocity expressed in m/s.
Examples
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 240 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

◆ setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType  newFrame)
protectedinherited

◆ setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType  newState)
virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotUniversalRobots, vpRobotPtu46, vpRobotFranka, vpRobotFlirPtu, vpRobotAfma6, vpRobotAfma4, vpRobotPololuPtu, and vpRobotBiclops.

Examples
UniversalRobotsMoveToPosition.cpp, UniversalRobotsSavePosition.cpp, frankaMoveToPosition.cpp, frankaSavePosition.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricMappingVisualServoing.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_cur_integrator.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoKinovaJacoCart.cpp, servoKinovaJacoJoint.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, testFrankaCartForceTorque-2.cpp, testFrankaCartForceTorque.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaJointPosition.cpp, testFrankaJointTorque.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, testRobotFlirPtu.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testUniversalRobotsCartPosition.cpp, testUniversalRobotsCartVelocity.cpp, testUniversalRobotsJointPosition.cpp, testUniversalRobotsJointVelocity.cpp, testVirtuoseAfma6.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 202 of file vpRobot.cpp.

Referenced by vpSimulatorCamera::setPosition(), vpRobotBiclops::setRobotState(), vpRobotPololuPtu::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorCamera::setVelocity(), setVelocity(), and vpSimulatorPioneerPan::setVelocity().

◆ setSamplingTime()

virtual void vpRobotSimulator::setSamplingTime ( const double &  delta_t)
inlinevirtualinherited

Set the sampling time.

Parameters
delta_t: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Definition at line 81 of file vpRobotSimulator.h.

◆ setVelocity()

void vpSimulatorPioneer::setVelocity ( const vpRobot::vpControlFrameType  frame,
const vpColVector v 
)
virtual

Send to the controller a velocity.

Parameters
frame: Control frame type. Only vpRobot::ARTICULAR_FRAME is implemented.
v: Velocity vector $(v_x, \omega_z)$ to apply to the robot, where $v_x$ is the linear translational velocity in m/s and $\omega_z$ is the rotational velocity in rad/s around the vertical axis.

Depending on the velocity specified as input, the robot position is updated using the sampling time that can be modified using setSamplingTime().

See also
setSamplingTime()

Implements vpRobot.

Definition at line 105 of file vpSimulatorPioneer.cpp.

References vpRobot::ARTICULAR_FRAME, vpHomogeneousMatrix::buildFrom(), vpRobot::CAMERA_FRAME, vpUnicycle::cMe_, vpRobotSimulator::delta_t_, vpException::dimensionError, vpRobot::END_EFFECTOR_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpHomogeneousMatrix::inverse(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpRobot::setRobotFrame(), vpRobot::setRobotState(), vpArray2D< Type >::size(), vpRobot::STATE_VELOCITY_CONTROL, theta_, wMc_, wMe_, vpRobotException::wrongStateError, xm_, and ym_.

◆ setVerbose()

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable
protectedinherited

Definition at line 114 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ cMe_

vpHomogeneousMatrix vpUnicycle::cMe_
protectedinherited

Definition at line 116 of file vpUnicycle.h.

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

◆ delta_t_

double vpRobotSimulator::delta_t_
protectedinherited

◆ eJe

◆ eJe_

vpMatrix vpUnicycle::eJe_
protectedinherited

Definition at line 117 of file vpUnicycle.h.

◆ eJeAvailable

int vpRobot::eJeAvailable
protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 108 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ fJe

◆ fJeAvailable

int vpRobot::fJeAvailable
protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 112 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7
staticprotectedinherited

Definition at line 101 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity
protectedinherited

◆ maxTranslationVelocityDefault

BEGIN_VISP_NAMESPACE const double vpRobot::maxTranslationVelocityDefault = 0.2
staticprotectedinherited

Definition at line 99 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().

◆ nDof

◆ qmax

double* vpRobot::qmax
protectedinherited

Definition at line 116 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

◆ qmin

double* vpRobot::qmin
protectedinherited

Definition at line 115 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

◆ theta_

double vpSimulatorPioneer::theta_
protected

Definition at line 116 of file vpSimulatorPioneer.h.

Referenced by setVelocity().

◆ verbose_

◆ wMc_

vpHomogeneousMatrix vpSimulatorPioneer::wMc_
protected

Definition at line 108 of file vpSimulatorPioneer.h.

Referenced by getPosition(), and setVelocity().

◆ wMe_

vpHomogeneousMatrix vpSimulatorPioneer::wMe_
protected

Definition at line 111 of file vpSimulatorPioneer.h.

Referenced by setVelocity().

◆ xm_

double vpSimulatorPioneer::xm_
protected

Definition at line 114 of file vpSimulatorPioneer.h.

Referenced by setVelocity().

◆ ym_

double vpSimulatorPioneer::ym_
protected

Definition at line 115 of file vpSimulatorPioneer.h.

Referenced by setVelocity().