Visual Servoing Platform  version 3.4.1 under development (2021-09-19)
vpPioneer.h
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30  *
31  * Description:
32  * Common features for Pioneer unicycle mobile robots.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 #ifndef VPPIONEER_H
39 #define VPPIONEER_H
40 
41 #include <visp3/core/vpRxyzVector.h>
42 #include <visp3/core/vpTranslationVector.h>
43 #include <visp3/robot/vpUnicycle.h>
44 
91 class VISP_EXPORT vpPioneer : public vpUnicycle
92 {
93 public:
98  {
99  set_cMe();
100  set_eJe();
101  }
102 
106  virtual ~vpPioneer(){};
107 
108 private:
113  void set_cMe()
114  {
115  // Position of mobile platform end effector frame in the camera frame
116  double l = 0.13; // distance between the camera frame and the mobile robot frame
117  vpTranslationVector cte; // meters
118  vpRxyzVector cre; // radian
119  cte.set(0, 0, -l);
120  cre.buildFrom(vpMath::rad(90.), 0, vpMath::rad(90.));
121  cMe_.buildFrom(cte, vpRotationMatrix(cre));
122  }
123 
146  void set_eJe()
147  {
148  eJe_.resize(6, 2); // pioneer jacobian expressed at point M
149  eJe_ = 0;
150  eJe_[0][0] = 1; // vx
151  eJe_[5][1] = 1; // wz
152  }
153 };
154 
155 #endif
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:113
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:123
Implementation of a rotation matrix and operations on such kind of matrices.
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:56
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:91
static double rad(double deg)
Definition: vpMath.h:110
virtual ~vpPioneer()
Definition: vpPioneer.h:106
void set(double tx, double ty, double tz)
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
Class that consider the case of a translation vector.
vpPioneer()
Definition: vpPioneer.h:97