vpPioneerPan.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Common features for Pioneer unicycle mobile robots.
 */
#ifndef VPPIONEERPAN_H
#define VPPIONEERPAN_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/robot/vpUnicycle.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPioneerPan : public vpUnicycle
{
public:
  vpPioneerPan() : mMp_(), pMe_()
  {
    double q = 0; // Initial position of the pan axis
    set_mMp();
    set_pMe(q);
    set_cMe();
    set_eJe(q);
  }
 
 
  void set_eJe(double q_pan)
  {
    double px = mMp_[0][3];
    double py = mMp_[1][3];
    double c1 = cos(q_pan);
    double s1 = sin(q_pan);
 
    eJe_.resize(6,
                3); // robot jacobian expressed at the pan head end effector
 
    eJe_ = 0;
    eJe_[0][0] = c1;
    eJe_[0][1] = -c1 * py - s1 * px;
 
    eJe_[2][0] = s1;
    eJe_[2][1] = -s1 * py + c1 * px;
 
    eJe_[4][1] = -1;
    eJe_[4][2] = 1;
  }
 
protected:
  void set_cMe()
  {
    // Position of pan head end effector frame in the camera frame
    double cx = 0;
    double cy = -0.065; // distance between camera and tilt axis
    double cz = 0;
    vpTranslationVector etc(cx, cy, cz);
    vpRotationMatrix eRc;
    eRc[0][0] = eRc[1][1] = eRc[2][2] = 0;
    eRc[0][2] = 1;
    eRc[1][1] = 1;
    eRc[2][0] = -1;
 
    vpHomogeneousMatrix eMc;
    eMc.build(etc, eRc);
 
    cMe_ = eMc.inverse();
  }
 
  void set_mMp()
  {
    // Position of the pan head in the mobile platform frame
    double px = 0.103; // distance between the pan frame and the robot frame
    double py = 0;
    double pz = 0.27;
    vpTranslationVector mtp;
    mtp.set(px, py, pz);
 
    vpRotationMatrix mRp; // set to Identity
    mRp[1][1] = mRp[2][2] = -1.;
 
    mMp_.insert(mtp);
    mMp_.insert(mRp);
  }
 
  void set_pMe(const double q)
  {
    vpRotationMatrix pRe;
    pRe[0][0] = cos(q);
    pRe[0][2] = pRe[1][0] = sin(q);
    pRe[1][1] = pRe[2][2] = 0.;
    pRe[2][1] = 1.;
    pRe[1][2] = -pRe[0][0];
 
    pMe_.insert(pRe);
  }
 
protected:
  vpHomogeneousMatrix mMp_; // constant
  vpHomogeneousMatrix pMe_; // depends on q pan
};
END_VISP_NAMESPACE
#endif