Visual Servoing Platform  version 3.6.1 under development (2024-04-22)
vpPioneer.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
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7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Common features for Pioneer unicycle mobile robots.
32  */
33 #ifndef VPPIONEER_H
34 #define VPPIONEER_H
35 
36 #include <visp3/core/vpRxyzVector.h>
37 #include <visp3/core/vpTranslationVector.h>
38 #include <visp3/robot/vpUnicycle.h>
39 
84 class VISP_EXPORT vpPioneer : public vpUnicycle
85 {
86 public:
91  {
92  set_cMe();
93  set_eJe();
94  }
95 
96 private:
101  void set_cMe()
102  {
103  // Position of mobile platform end effector frame in the camera frame
104  double l = 0.13; // distance between the camera frame and the mobile robot frame
105  vpTranslationVector cte; // meters
106  vpRxyzVector cre; // radian
107  cte.set(0, 0, -l);
108  cre.buildFrom(vpMath::rad(90.), 0, vpMath::rad(90.));
109  cMe_.buildFrom(cte, vpRotationMatrix(cre));
110  }
111 
133  void set_eJe()
134  {
135  eJe_.resize(6, 2); // pioneer jacobian expressed at point M
136  eJe_ = 0;
137  eJe_[0][0] = 1; // vx
138  eJe_[5][1] = 1; // wz
139  }
140 };
141 
142 #endif
static double rad(double deg)
Definition: vpMath.h:127
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:85
vpPioneer()
Definition: vpPioneer.h:90
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.
void set(double tx, double ty, double tz)
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:50
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:110
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:100