Visual Servoing Platform  version 3.4.1 under development (2021-10-17)
vpSimulatorPioneerPan.h
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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 
39 #ifndef vpSimulatorPioneerPan_H
40 #define vpSimulatorPioneerPan_H
41 
48 #include <visp3/core/vpColVector.h>
49 #include <visp3/core/vpHomogeneousMatrix.h>
50 #include <visp3/core/vpMatrix.h>
51 #include <visp3/robot/vpPioneerPan.h>
52 #include <visp3/robot/vpRobot.h>
53 #include <visp3/robot/vpRobotSimulator.h>
54 
104 class VISP_EXPORT vpSimulatorPioneerPan : public vpPioneerPan, public vpRobotSimulator
105 {
106 
107 protected:
109  vpHomogeneousMatrix wMc_; // world to camera
110  vpHomogeneousMatrix wMm_; // world to mobile robot frame located between the two weels
111  // mMp_ mobile robot to pan frame is a protected member of vpPioneerPan
112  // pMe_ pan head to end effector frame is a protected member of vpPioneerPan
113  // cMe_ is a protected member of vpUnicycle
114 
115  double xm_;
116  double ym_;
117  double theta_;
118  double q_pan_;
119 
120 public:
122  virtual ~vpSimulatorPioneerPan();
123 
124 public:
127  void get_eJe(vpMatrix &eJe);
128 
129  void getPosition(vpHomogeneousMatrix &wMc) const;
131  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
133 
134 private:
135  void init();
136 
137  // Non implemented virtual pure functions
138  void get_fJe(vpMatrix & /*_fJe */){};
139  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */){};
140  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */){};
141 };
142 
143 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
vpHomogeneousMatrix wMc_
robot / camera location in the world frame
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
vpControlFrameType
Definition: vpRobot.h:75
Generic functions for Pioneer mobile robots equiped with a pan head.
Definition: vpPioneerPan.h:97
vpHomogeneousMatrix wMm_
This class aims to be a basis used to create all the robot simulators.
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
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Class that defines the Pioneer mobile robot simulator equipped with a camera able to move in pan...
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0