SimulatorPioneerPan¶

class SimulatorPioneerPan(self)¶

Bases: PioneerPan, RobotSimulator

Class that defines the Pioneer mobile robot simulator equipped with a camera able to move in pan.

It intends to simulate the mobile robot described in vpPioneerPan class. This robot has 3 dof: \((v_x, w_z, \dot{q_1})\) , the translational and rotational velocities of the mobile platform, the pan head velocity respectively.

The robot position evolves with respect to a world frame; wMc. When a new joint velocity is applied to the robot using setVelocity() , the position of the camera wrt the world frame is updated.

The following code shows how to control this robot in position and velocity.

#include <visp3/robot/vpSimulatorPioneerPan.h>

int main()
{
  vpHomogeneousMatrix wMc;
  vpSimulatorPioneerPan robot;

  robot.getPosition(wMc); // Position of the camera in the world frame
  std::cout << "Default position of the camera in the world frame wMc:\n" << wMc << std::endl;

  robot.setSamplingTime(0.100); // Modify the default sampling time to 0.1 second
  robot.setMaxTranslationVelocity(1.); // vx max set to 1 m/s
  robot.setMaxRotationVelocity(vpMath::rad(90)); // wz max set to 90 deg/s

  vpColVector v(3); // we control vx, wz and q_pan
  v = 0;
  v[0] = 1.; // set vx to 1 m/s
  robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
  // The robot has moved from 0.1 meters along the z axis
  robot.getPosition(wMc); // Position of the camera in the world frame
  std::cout << "New position of the camera wMc:\n" << wMc << std::endl;
}

The usage of this class is also highlighted in tutorial-simu-robot-pioneer.

Constructor.

Initialise the robot by a call to init() .

Sampling time is set to 40 ms. To change it you should call setSamplingTime() .

Methods

`__init__`	Constructor.
`getPosition`	Overloaded function.
`get_eJe`	Get the robot jacobian expressed in the end-effector frame.
`setVelocity`

Inherited Methods

`STATE_ACCELERATION_CONTROL`
`RobotStateType`	Robot control frames.
`setMaxTranslationVelocity`	Set the maximal translation velocity that can be sent to the robot during a velocity control.
`getRobotState`
`setVerbose`
`END_EFFECTOR_FRAME`
`CAMERA_FRAME`
`set_eJe`	Overloaded function.
`saturateVelocities`	Saturate velocities.
`ARTICULAR_FRAME`
`JOINT_STATE`
`TOOL_FRAME`
`setMaxRotationVelocity`	Set the maximal rotation velocity that can be sent to the robot during a velocity control.
`getNDof`	Return robot degrees of freedom number.
`STATE_STOP`
`set_cMe`	Set the transformation between the camera frame and the end effector frame.
`STATE_POSITION_CONTROL`
`getMaxTranslationVelocity`	Get the maximal translation velocity that can be sent to the robot during a velocity control.
`setRobotState`
`getSamplingTime`	Return the sampling time.
`get_cVe`	Overloaded function.
`ControlFrameType`	Robot control frames.
`getMaxRotationVelocity`	Get the maximal rotation velocity that can be sent to the robot during a velocity control.
`REFERENCE_FRAME`
`get_cMe`	Return the transformation \({^c}{\bf M}_e\) between the camera frame and the mobile robot end effector frame.
`STATE_FORCE_TORQUE_CONTROL`
`setSamplingTime`	Set the sampling time.
`STATE_VELOCITY_CONTROL`
`MIXT_FRAME`

Operators

`__doc__`
`__init__`	Constructor.
`__module__`

Attributes

`ARTICULAR_FRAME`
`CAMERA_FRAME`
`END_EFFECTOR_FRAME`
`JOINT_STATE`
`MIXT_FRAME`
`REFERENCE_FRAME`
`STATE_ACCELERATION_CONTROL`
`STATE_FORCE_TORQUE_CONTROL`
`STATE_POSITION_CONTROL`
`STATE_STOP`
`STATE_VELOCITY_CONTROL`
`TOOL_FRAME`
`__annotations__`

class ControlFrameType(self, value: int)¶

Bases: pybind11_object

Robot control frames.

Values:

REFERENCE_FRAME: Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME: Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE .
JOINT_STATE: Corresponds to the joint state.
END_EFFECTOR_FRAME: Corresponds to robot end-effector frame.
CAMERA_FRAME: Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME: Corresponds to a frame attached to the tool (camera, gripper…) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME .
MIXT_FRAME: Corresponds to a “virtual” frame where translations are expressed in the reference frame, and rotations in the camera frame.

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

class RobotStateType(self, value: int)¶

Bases: pybind11_object

Robot control frames.

Values:

REFERENCE_FRAME: Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME: Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE .
JOINT_STATE: Corresponds to the joint state.
END_EFFECTOR_FRAME: Corresponds to robot end-effector frame.
CAMERA_FRAME: Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME: Corresponds to a frame attached to the tool (camera, gripper…) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME .
MIXT_FRAME: Corresponds to a “virtual” frame where translations are expressed in the reference frame, and rotations in the camera frame.

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

__init__(self)¶

Constructor.

Initialise the robot by a call to init() .

Sampling time is set to 40 ms. To change it you should call setSamplingTime() .

getMaxRotationVelocity(self) → float¶

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns:: Maximum rotation velocity expressed in rad/s.

getMaxTranslationVelocity(self) → float¶

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns:: Maximum translational velocity expressed in m/s.

getNDof(self) → int¶: Return robot degrees of freedom number.

getPosition(*args, **kwargs)¶

Overloaded function.

getPosition(self: visp._visp.robot.SimulatorPioneerPan, wMc: visp._visp.core.HomogeneousMatrix) -> None

Get the robot position in the world frame.

getPosition(self: visp._visp.robot.SimulatorPioneerPan, frame: visp._visp.robot.Robot.ControlFrameType, q: visp._visp.core.ColVector) -> None

getRobotState(self) → visp._visp.robot.Robot.RobotStateType¶

getSamplingTime(self) → float¶

Return the sampling time.

Returns:: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

get_cMe(self) → visp._visp.core.HomogeneousMatrix¶: Return the transformation \({^c}{\bf M}_e\) between the camera frame and the mobile robot end effector frame.

get_cVe(*args, **kwargs)¶

Overloaded function.

get_cVe(self: visp._visp.robot.Unicycle) -> visp._visp.core.VelocityTwistMatrix

Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.

get_cVe(self: visp._visp.robot.Unicycle, cVe: visp._visp.core.VelocityTwistMatrix) -> None

Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.

Note

See get_cVe()

get_eJe(self, eJe: visp._visp.core.Matrix) → None¶: Get the robot jacobian expressed in the end-effector frame. The jacobian expression is given in vpPioneerPan class.

static saturateVelocities(v_in: visp._visp.core.ColVector, v_max: visp._visp.core.ColVector, verbose: bool = false) → visp._visp.core.ColVector¶

Saturate velocities.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>

#include <visp3/robot/vpRobot.h>

int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz

  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)

  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);

  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;

  return 0;
}

Parameters:

v_in: visp._visp.core.ColVector¶: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max: visp._visp.core.ColVector¶: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose: bool = false¶: Print a message indicating which axis causes the saturation.

Returns:

Saturated velocities.

setMaxRotationVelocity(self, maxVr: float) → None¶: Set the maximal rotation velocity that can be sent to the robot during a velocity control.

setMaxTranslationVelocity(self, maxVt: float) → None¶: Set the maximal translation velocity that can be sent to the robot during a velocity control.

setRobotState(self, newState: visp._visp.robot.Robot.RobotStateType) → visp._visp.robot.Robot.RobotStateType¶

setSamplingTime(self, delta_t: float) → None¶

Set the sampling time.

Parameters:

delta_t: float¶: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

setVelocity(self, frame: visp._visp.robot.Robot.ControlFrameType, vel: visp._visp.core.ColVector) → None¶

setVerbose(self, verbose: bool) → None¶

set_cMe(self, cMe: visp._visp.core.HomogeneousMatrix) → None¶: Set the transformation between the camera frame and the end effector frame.

set_eJe(*args, **kwargs)¶

Overloaded function.

set_eJe(self: visp._visp.robot.PioneerPan, q_pan: float) -> None

Set the robot jacobian expressed at point E the end effector frame located on the pan head.

Considering \({\bf v} = {^e}{\bf J}_e \; [v_x, w_z, \dot{q_1}]\) with \((v_x, w_z)\) respectively the translational and rotational control velocities of the mobile platform, \(\dot{q_1}\) the joint velocity of the pan head and \(\bf v\) the six dimension velocity skew expressed at point E in frame E, the robot jacobian is given by:

\[\begin{split}{^e}{\bf J}_e = \left(\begin{array}{ccc} c_1 & -c_1*p_y - s_1*p_x & 0 \\0 & 0 & 0 \\s_1 & -s_1*p_y + c_1*p_x & 0 \\0 & 0 & 0 \\0 & -1 & 1 \\0 & 0 & 0 \\\end{array} \right) \end{split}\]

with \(p_x, p_y\) the position of the head base frame in the mobile platform frame located at the middle point between the two wheels.

set_eJe(self: visp._visp.robot.Unicycle, eJe: visp._visp.core.Matrix) -> None

Set the robot jacobian \({^e}{\bf J}_e\) expressed in the end effector frame.

Parameters:

eJe: The robot jacobian to set such as \({\bf v} = {^e}{\bf J}_e \; \dot{\bf q}\) with \(\dot{\bf q} = (v_x, w_z)\) the robot control velocities and \(\bf v\) the six dimension velocity skew.