Visual Servoing Platform  version 3.2.1 under development (2019-05-26)
vpSimulatorPioneerPan.cpp
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30  *
31  * Description:
32  * Pioneer mobile robot equipped with a pan head simulator without display.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
45 #include <visp3/core/vpDebug.h>
46 #include <visp3/core/vpExponentialMap.h>
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/robot/vpRobotException.h>
49 #include <visp3/robot/vpSimulatorPioneerPan.h>
50 
60 vpSimulatorPioneerPan::vpSimulatorPioneerPan() : wMc_(), wMm_(), xm_(0), ym_(0), theta_(0), q_pan_() { init(); }
61 
72 void vpSimulatorPioneerPan::init()
73 {
74  xm_ = 0;
75  ym_ = 0;
76  theta_ = 0;
77  q_pan_ = 0;
78 
79  nDof = 3;
80  eJeAvailable = true;
81  fJeAvailable = false;
83  qmin = NULL;
84  qmax = NULL;
85 
86  wMc_ = wMm_ * mMp_ * pMe_ * cMe_.inverse();
87 }
88 
94 
103 
123 {
124  switch (frame) {
128  }
129 
130  setRobotFrame(frame);
131 
132  // v is a 3 dimension vector that contains vx, wz, qpan
133  if (v.size() != 3) {
134  vpERROR_TRACE("Bad dimension of the control vector");
135  throw vpRobotException(vpRobotException::dimensionError, "Bad dimension of the control vector");
136  }
137 
138  vpColVector v_max(3);
139 
140  v_max[0] = getMaxTranslationVelocity();
141  v_max[1] = getMaxRotationVelocity();
142  v_max[2] = getMaxRotationVelocity();
143 
144  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
145 
146  xm_ += delta_t_ * v_sat[0] * cos(theta_);
147  ym_ += delta_t_ * v_sat[0] * sin(theta_);
148  theta_ += delta_t_ * v_sat[1];
149  q_pan_ += delta_t_ * v_sat[2];
150 
151  vpRotationMatrix wRm(0, 0, theta_);
152  vpTranslationVector wtm(xm_, ym_, 0);
153  wMm_.buildFrom(wtm, wRm);
154 
155  // Update the end effector pose
156  set_pMe(q_pan_);
157 
158  // Update the camera pose
159  wMc_ = wMm_ * mMp_ * pMe_ * cMe_.inverse();
160 
161  // Update the jacobian
162  set_eJe(q_pan_);
163 
164  break;
165  }
167  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the camera frame:"
168  "functionality not implemented");
170  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the reference frame:"
171  "functionality not implemented");
172  case vpRobot::MIXT_FRAME:
173  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the mixt frame:"
174  "functionality not implemented");
176  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the end-effector frame:"
177  "functionality not implemented");
178  }
179 }
180 
186 
187 /*
188  Get the current position of the robot.
189 
190  \param frame : Control frame type in which to get the position, either :
191  - in the camera cartesien frame,
192  - joint (articular) coordinates of each axes (not implemented)
193  - in a reference or fixed cartesien frame attached to the robot base
194  - in a mixt cartesien frame (translation in reference frame, and rotation in
195  camera frame)
196 
197  \param position : Measured position of the robot:
198  - in camera cartesien frame, a 6 dimension vector, set to 0.
199 
200  - in articular, this functionality is not implemented.
201 
202  - in reference frame, a 6 dimension vector, the first 3 values correspond to
203  the translation tx, ty, tz in meters (like a vpTranslationVector), and the
204  last 3 values to the rx, ry, rz rotation (like a vpRxyzVector).
205 */
207 {
208  q.resize(6);
209 
210  switch (frame) {
212  q = 0;
213  break;
214 
216  std::cout << "ARTICULAR_FRAME is not implemented in "
217  "vpSimulatorPioneer::getPosition()"
218  << std::endl;
219  break;
221  // Convert wMc_ to a position
222  // From fMc extract the pose
223  vpRotationMatrix wRc;
224  this->wMc_.extract(wRc);
225  vpRxyzVector rxyz;
226  rxyz.buildFrom(wRc);
227 
228  for (unsigned int i = 0; i < 3; i++) {
229  q[i] = this->wMc_[i][3]; // translation x,y,z
230  q[i + 3] = rxyz[i]; // Euler rotation x,y,z
231  }
232 
233  break;
234  }
235  case vpRobot::MIXT_FRAME:
236  std::cout << "MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
237  break;
239  std::cout << "END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
240  break;
241  }
242 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void set_pMe(const double q)
Definition: vpPioneerPan.h:222
Error that can be emited by the vpRobot class and its derivates.
vpHomogeneousMatrix wMc_
robot / camera location in the world frame
Implementation of an homogeneous matrix and operations on such kind of matrices.
double * qmax
Definition: vpRobot.h:114
#define vpERROR_TRACE
Definition: vpDebug.h:393
double getMaxTranslationVelocity(void) const
Definition: vpRobot.cpp:251
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition: vpRobot.cpp:163
vpControlFrameType
Definition: vpRobot.h:75
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
vpHomogeneousMatrix wMm_
double getMaxRotationVelocity(void) const
Definition: vpRobot.cpp:273
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
Implementation of a rotation matrix and operations on such kind of matrices.
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:106
Initialize the velocity controller.
Definition: vpRobot.h:66
vpHomogeneousMatrix mMp_
Definition: vpPioneerPan.h:236
vpMatrix get_eJe() const
Definition: vpUnicycle.h:107
void extract(vpRotationMatrix &R) const
int areJointLimitsAvailable
Definition: vpRobot.h:112
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
vpHomogeneousMatrix cMe_
Definition: vpUnicycle.h:127
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
int nDof
number of degrees of freedom
Definition: vpRobot.h:102
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpHomogeneousMatrix pMe_
Definition: vpPioneerPan.h:237
vpHomogeneousMatrix inverse() const
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:144
void getPosition(vpHomogeneousMatrix &wMc) const
double * qmin
Definition: vpRobot.h:113
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
Definition: vpRobot.cpp:207
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:110
void set_eJe(double q_pan)
Definition: vpPioneerPan.h:146
Class that consider the case of a translation vector.
void resize(const unsigned int i, const bool flagNullify=true)
Definition: vpColVector.h:310