Visual Servoing Platform  version 3.2.1 under development (2019-07-18)
vpRobotPioneer.h
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30  *
31  * Description:
32  * Interface for Pioneer mobile robots based on Aria 3rd party library.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 #ifndef VPROBOTPIONEER_H
39 #define VPROBOTPIONEER_H
40 
41 #include <visp3/core/vpConfig.h>
42 
43 #ifdef VISP_HAVE_PIONEER
44 
45 #include <Aria.h>
46 
47 // Warning: vpMath.h included from vpRobot.h or vpPioneer.h should be
48 // included after Aria.h to avoid the build issue:
49 // "/usr/include/Aria/ariaUtil.h:732:21: error: ‘isfinite’ was not declared
50 // in this scope"
51 // This error is due to cmath header included from vpMath.h that makes
52 // isfinite() ambiguous between ::isfinite() and std::isfinite()
53 #include <visp3/robot/vpPioneer.h>
54 #include <visp3/robot/vpRobot.h>
55 
69 class VISP_EXPORT vpRobotPioneer : public vpRobot, public vpPioneer, public ArRobot
70 {
71 private: /* Not allowed functions. */
75  vpRobotPioneer(const vpRobotPioneer &robot);
76 
77 public:
79  virtual ~vpRobotPioneer();
80 
93  void get_eJe(vpMatrix &eJe) { eJe = vpUnicycle::get_eJe(); }
94 
95 private: // Set as private since not implemented
100  void get_fJe(vpMatrix & /*fJe*/){};
101 
106  void getDisplacement(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/){};
107 
108 public:
109  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
110  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
111 
112 private: // Set as private since not implemented
117  void getPosition(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/){};
118 
119 public:
120  void init();
121 
122 private: // Set as private since not implemented
127  void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector & /*q*/){};
128 
129 public:
130  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
131 
135  void useSonar(bool usage) { this->comInt(ArCommands::SONAR, usage); }
136 
137 protected:
139 };
140 
141 #endif
142 
143 #endif // VPROBOTPIONEER_H
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
void get_eJe(vpMatrix &eJe)
void useSonar(bool usage)
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Interface for Pioneer mobile robots based on Aria 3rd party library.
Class that defines a generic virtual robot.
Definition: vpRobot.h:58
vpControlFrameType
Definition: vpRobot.h:75
virtual void init()=0
vpMatrix get_eJe() const
Definition: vpUnicycle.h:107
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:91
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0