Visual Servoing Platform  version 3.6.1 under development (2023-11-30)
vpSimulatorPioneerPan.h
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2  * ViSP, open source Visual Servoing Platform software.
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29  *
30  * Description:
31  * Pioneer mobile robot equipped with a pan head simulator without display.
32  */
33 
34 #ifndef vpSimulatorPioneerPan_H
35 #define vpSimulatorPioneerPan_H
36 
43 #include <visp3/core/vpColVector.h>
44 #include <visp3/core/vpHomogeneousMatrix.h>
45 #include <visp3/core/vpMatrix.h>
46 #include <visp3/robot/vpPioneerPan.h>
47 #include <visp3/robot/vpRobot.h>
48 #include <visp3/robot/vpRobotSimulator.h>
49 
97 class VISP_EXPORT vpSimulatorPioneerPan : public vpPioneerPan, public vpRobotSimulator
98 {
99 
100 protected:
102  vpHomogeneousMatrix wMc_; // world to camera
103  vpHomogeneousMatrix wMm_; // world to mobile robot frame located between the two wheels
104  // mMp_ mobile robot to pan frame is a protected member of vpPioneerPan
105  // pMe_ pan head to end effector frame is a protected member of vpPioneerPan
106  // cMe_ is a protected member of vpUnicycle
107 
108  double xm_;
109  double ym_;
110  double theta_;
111  double q_pan_;
112 
113 public:
115 
116 public:
119  void get_eJe(vpMatrix &eJe) override;
120 
121  void getPosition(vpHomogeneousMatrix &wMc) const;
122  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) override;
123  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) override;
125 
126 private:
127  void init() override;
128 
129  // Non implemented virtual pure functions
130  void get_fJe(vpMatrix & /*_fJe */) override { };
131  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) override { };
132  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) override { };
133 };
134 
135 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Generic functions for Pioneer mobile robots equipped with a pan head.
Definition: vpPioneerPan.h:91
This class aims to be a basis used to create all the robot simulators.
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.
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:94