Visual Servoing Platform  version 3.6.1 under development (2024-03-04)
vpRobotPioneer.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
6  * it under the terms of the GNU General Public License as published by
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.
11  *
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.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
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  * 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 
62 class VISP_EXPORT vpRobotPioneer : public vpRobot, public vpPioneer, public ArRobot
63 {
64 private: /* Not allowed functions. */
68  vpRobotPioneer(const vpRobotPioneer &robot);
69 
70 public:
72  virtual ~vpRobotPioneer() vp_override;
73 
85  void get_eJe(vpMatrix &eJe) vp_override { eJe = vpUnicycle::get_eJe(); }
86 
87 private: // Set as private since not implemented
92  void get_fJe(vpMatrix & /*fJe*/) vp_override { };
93 
99  void getDisplacement(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/) { };
100 
101 public:
102  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
103  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
104 
105 private: // Set as private since not implemented
110  void getPosition(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/) { };
111 
112 public:
113  void init();
114 
115 private: // Set as private since not implemented
120  void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector & /*q*/) vp_override { };
121 
122 public:
123  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
124 
128  void useSonar(bool usage) { this->comInt(ArCommands::SONAR, usage); }
129 
130 protected:
132 };
133 
134 #endif
135 
136 #endif // VPROBOTPIONEER_H
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:85
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:57
vpControlFrameType
Definition: vpRobot.h:75
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:94