Visual Servoing Platform  version 3.6.0 under development (2023-09-29)
vpUnicycle.h
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31  * Description:
32  * Common features for unicycle mobile robots.
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34 *****************************************************************************/
35 #ifndef VPUNICYCLE_H
36 #define VPUNICYCLE_H
37 
38 #include <visp3/core/vpHomogeneousMatrix.h>
39 #include <visp3/core/vpTranslationVector.h>
40 #include <visp3/core/vpVelocityTwistMatrix.h>
41 
53 class VISP_EXPORT vpUnicycle
54 {
55 public:
59  vpUnicycle() : cMe_(), eJe_(){};
63  virtual ~vpUnicycle(){};
64 
71  vpHomogeneousMatrix get_cMe() const { return cMe_; }
72 
80  {
82  cVe.buildFrom(cMe_);
83  return cVe;
84  }
85 
94  void get_cVe(vpVelocityTwistMatrix &cVe) const { cVe = get_cVe(); }
95 
104  vpMatrix get_eJe() const { return eJe_; }
105 
110  void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
111 
120  void set_eJe(const vpMatrix &eJe) { eJe_ = eJe; }
122 
123 protected:
124  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
125  vpMatrix eJe_; // Robot jacobian
126 };
127 
128 #endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:54
vpMatrix get_eJe() const
Definition: vpUnicycle.h:104
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:120
vpMatrix eJe_
Definition: vpUnicycle.h:125
virtual ~vpUnicycle()
Definition: vpUnicycle.h:63
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:110
vpVelocityTwistMatrix get_cVe() const
Definition: vpUnicycle.h:79
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpUnicycle.h:94
vpHomogeneousMatrix cMe_
Definition: vpUnicycle.h:124
vpHomogeneousMatrix get_cMe() const
Definition: vpUnicycle.h:71
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)