vpSimulatorPioneer.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Pioneer mobile robot simulator without display.
 */
 
#ifndef vpSimulatorPioneer_H
#define vpSimulatorPioneer_H
 
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/robot/vpPioneer.h>
#include <visp3/robot/vpRobot.h>
#include <visp3/robot/vpRobotSimulator.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpSimulatorPioneer : public vpPioneer, public vpRobotSimulator
{
 
protected:
  // world to camera
  vpHomogeneousMatrix wMc_;
  // world to end effector frame which is also the mobile
  // robot frame located between the two wheels
  vpHomogeneousMatrix wMe_;
  // cMe_ is a protected member of vpUnicycle
 
  double xm_;
  double ym_;
  double theta_;
 
public:
  vpSimulatorPioneer();
 
public:
  void get_eJe(vpMatrix &eJe) VP_OVERRIDE;
 
  void getPosition(vpHomogeneousMatrix &wMc) const;
  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE;
  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE;
 
private:
  void init() VP_OVERRIDE;
 
  // Non implemented virtual pure functions
  void get_fJe(vpMatrix & /*_fJe */) VP_OVERRIDE { };
  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) VP_OVERRIDE { };
  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) VP_OVERRIDE { };
};
END_VISP_NAMESPACE
#endif