Visual Servoing Platform  version 3.6.1 under development (2024-06-19)
vpRobotPioneer.h
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29  *
30  * Description:
31  * Interface for Pioneer mobile robots based on Aria 3rd party library.
32  */
33 #ifndef VPROBOTPIONEER_H
34 #define VPROBOTPIONEER_H
35 
36 #include <visp3/core/vpConfig.h>
37 
38 #ifdef VISP_HAVE_PIONEER
39 
40 #include <Aria.h>
41 
42 // Warning: vpMath.h included from vpRobot.h or vpPioneer.h should be
43 // included after Aria.h to avoid the build issue:
44 // "/usr/include/Aria/ariaUtil.h:732:21: error: ‘isfinite’ was not declared
45 // in this scope"
46 // This error is due to cmath header included from vpMath.h that makes
47 // isfinite() ambiguous between ::isfinite() and std::isfinite()
48 #include <visp3/robot/vpPioneer.h>
49 #include <visp3/robot/vpRobot.h>
50 
63 class VISP_EXPORT vpRobotPioneer : public vpRobot, public vpPioneer, public ArRobot
64 {
65 private: /* Not allowed functions. */
69  vpRobotPioneer(const vpRobotPioneer &robot);
70 
71 public:
73  virtual ~vpRobotPioneer() vp_override;
74 
86  void get_eJe(vpMatrix &eJe) vp_override { eJe = vpUnicycle::get_eJe(); }
87 
88 private: // Set as private since not implemented
93  void get_fJe(vpMatrix & /*fJe*/) vp_override { };
94 
100  void getDisplacement(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/) { };
101 
102 public:
103  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
104  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
105 
106 private: // Set as private since not implemented
111  void getPosition(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/) { };
112 
113 public:
114  void init();
115 
116 private: // Set as private since not implemented
121  void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector & /*q*/) vp_override { };
122 
123 public:
124  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
125 
129  void useSonar(bool usage) { this->comInt(ArCommands::SONAR, usage); }
130 
131 protected:
133 };
135 #endif
136 
137 #endif // VPROBOTPIONEER_H
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:87
Interface for Pioneer mobile robots based on Aria 3rd party library.
void useSonar(bool usage)
void get_eJe(vpMatrix &eJe) vp_override
Class that defines a generic virtual robot.
Definition: vpRobot.h:59
vpControlFrameType
Definition: vpRobot.h:77
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
vpMatrix get_eJe() const
Definition: vpUnicycle.h:96