Visual Servoing Platform  version 3.6.1 under development (2024-11-14)
vpSimulatorPioneerPan.h
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2  * ViSP, open source Visual Servoing Platform software.
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19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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29  *
30  * Description:
31  * Pioneer mobile robot equipped with a pan head simulator without display.
32  */
33 
40 #ifndef vpSimulatorPioneerPan_H
41 #define vpSimulatorPioneerPan_H
42 
43 #include <visp3/core/vpColVector.h>
44 #include <visp3/core/vpConfig.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpMatrix.h>
47 #include <visp3/robot/vpPioneerPan.h>
48 #include <visp3/robot/vpRobot.h>
49 #include <visp3/robot/vpRobotSimulator.h>
50 
51 BEGIN_VISP_NAMESPACE
103 class VISP_EXPORT vpSimulatorPioneerPan : public vpPioneerPan, public vpRobotSimulator
104 {
105 
106 protected:
108  vpHomogeneousMatrix wMc_; // world to camera
109  vpHomogeneousMatrix wMm_; // world to mobile robot frame located between the two wheels
110  // mMp_ mobile robot to pan frame is a protected member of vpPioneerPan
111  // pMe_ pan head to end effector frame is a protected member of vpPioneerPan
112  // cMe_ is a protected member of vpUnicycle
113 
114  double xm_;
115  double ym_;
116  double theta_;
117  double q_pan_;
118 
119 public:
121 
122 public:
125  void get_eJe(vpMatrix &eJe) VP_OVERRIDE;
126 
127  void getPosition(vpHomogeneousMatrix &wMc) const;
128  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE;
129  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE;
131 
132 private:
133  void init() VP_OVERRIDE;
134 
135  // Non implemented virtual pure functions
136  void get_fJe(vpMatrix & /*_fJe */) VP_OVERRIDE { };
137  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) VP_OVERRIDE { };
138  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) VP_OVERRIDE { };
139 };
140 END_VISP_NAMESPACE
141 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
Generic functions for Pioneer mobile robots equipped with a pan head.
Definition: vpPioneerPan.h:93
This class aims to be a basis used to create all the robot simulators.
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 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.
Class that defines the Pioneer mobile robot simulator equipped with a camera able to move in pan.
vpHomogeneousMatrix wMm_
vpHomogeneousMatrix wMc_
robot / camera location in the world frame
vpMatrix get_eJe() const
Definition: vpUnicycle.h:96