Visual Servoing Platform  version 3.4.1 under development (2021-10-20)
vpUnicycle.h
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30  *
31  * Description:
32  * Common features for unicycle mobile robots.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 #ifndef VPUNICYCLE_H
39 #define VPUNICYCLE_H
40 
41 #include <visp3/core/vpHomogeneousMatrix.h>
42 #include <visp3/core/vpTranslationVector.h>
43 #include <visp3/core/vpVelocityTwistMatrix.h>
44 
56 class VISP_EXPORT vpUnicycle
57 {
58 public:
62  vpUnicycle() : cMe_(), eJe_(){};
66  virtual ~vpUnicycle(){};
67 
74  vpHomogeneousMatrix get_cMe() const { return cMe_; }
75 
83  {
85  cVe.buildFrom(cMe_);
86  return cVe;
87  }
88 
97  void get_cVe(vpVelocityTwistMatrix &cVe) const { cVe = get_cVe(); }
98 
107  vpMatrix get_eJe() const { return eJe_; }
108 
113  void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
114 
123  void set_eJe(const vpMatrix &eJe) { eJe_ = eJe; }
125 
126 protected:
127  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
128  vpMatrix eJe_; // Robot jacobian
129 };
130 
131 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
vpVelocityTwistMatrix get_cVe() const
Definition: vpUnicycle.h:82
vpHomogeneousMatrix get_cMe() const
Definition: vpUnicycle.h:74
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:113
Implementation of an homogeneous matrix and operations on such kind of matrices.
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:123
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:56
vpMatrix eJe_
Definition: vpUnicycle.h:128
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpUnicycle.h:97
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
vpMatrix get_eJe() const
Definition: vpUnicycle.h:107
vpHomogeneousMatrix cMe_
Definition: vpUnicycle.h:127
virtual ~vpUnicycle()
Definition: vpUnicycle.h:66