Visual Servoing Platform  version 3.6.1 under development (2024-06-21)
vpUnicycle.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
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7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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25  * Inria at visp@inria.fr
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Common features for unicycle mobile robots.
32  */
33 #ifndef VPUNICYCLE_H
34 #define VPUNICYCLE_H
35 
36 #include <visp3/core/vpConfig.h>
37 #include <visp3/core/vpHomogeneousMatrix.h>
38 #include <visp3/core/vpTranslationVector.h>
39 #include <visp3/core/vpVelocityTwistMatrix.h>
40 
51 class VISP_EXPORT vpUnicycle
52 {
53 public:
57  vpUnicycle() : cMe_(), eJe_() { };
58 
65  vpHomogeneousMatrix get_cMe() const { return cMe_; }
66 
73  {
75  cVe.build(cMe_);
76  return cVe;
77  }
78 
86  void get_cVe(vpVelocityTwistMatrix &cVe) const { cVe = get_cVe(); }
87 
96  vpMatrix get_eJe() const { return eJe_; }
97 
102  void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
103 
112  void set_eJe(const vpMatrix &eJe) { eJe_ = eJe; }
114 
115 protected:
116  vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
117  vpMatrix eJe_; // Robot jacobian
118 };
120 #endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:52
vpMatrix get_eJe() const
Definition: vpUnicycle.h:96
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:112
vpMatrix eJe_
Definition: vpUnicycle.h:117
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:102
vpVelocityTwistMatrix get_cVe() const
Definition: vpUnicycle.h:72
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpUnicycle.h:86
vpHomogeneousMatrix cMe_
Definition: vpUnicycle.h:116
vpHomogeneousMatrix get_cMe() const
Definition: vpUnicycle.h:65
vpVelocityTwistMatrix & build(const vpTranslationVector &t, const vpRotationMatrix &R)