Visual Servoing Platform  version 3.6.1 under development (2024-04-23)
vpSimulatorPioneer.h
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2  * ViSP, open source Visual Servoing Platform software.
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19  * Inria Rennes - Bretagne Atlantique
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29  *
30  * Description:
31  * Pioneer mobile robot simulator without display.
32  */
33 
34 #ifndef vpSimulatorPioneer_H
35 #define vpSimulatorPioneer_H
36 
43 #include <visp3/core/vpColVector.h>
44 #include <visp3/core/vpHomogeneousMatrix.h>
45 #include <visp3/core/vpMatrix.h>
46 #include <visp3/robot/vpPioneer.h>
47 #include <visp3/robot/vpRobot.h>
48 #include <visp3/robot/vpRobotSimulator.h>
49 
97 class VISP_EXPORT vpSimulatorPioneer : public vpPioneer, public vpRobotSimulator
98 {
99 
100 protected:
101  // world to camera
103  // world to end effector frame which is also the mobile
104  // robot frame located between the two wheels
106  // cMe_ is a protected member of vpUnicycle
107 
108  double xm_;
109  double ym_;
110  double theta_;
111 
112 public:
114 
115 public:
118  void get_eJe(vpMatrix &eJe) vp_override;
119 
120  void getPosition(vpHomogeneousMatrix &wMc) const;
121  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
122  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
124 
125 private:
126  void init() vp_override;
127 
128  // Non implemented virtual pure functions
129  void get_fJe(vpMatrix & /*_fJe */) vp_override { };
130  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) vp_override { };
131  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) vp_override { };
132 };
133 
134 #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.
Definition: vpPioneer.h:85
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 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 static camera.
vpHomogeneousMatrix wMc_
vpHomogeneousMatrix wMe_
vpMatrix get_eJe() const
Definition: vpUnicycle.h:94