Unicycle¶

class Unicycle(self)¶

Bases: pybind11_object

Generic functions for unicycle mobile robots.

This class provides common features for unicycle mobile robots.

Default constructor that does nothing.

Methods

`__init__`	Default constructor that does nothing.
`get_cMe`	Return the transformation \({^c}{\bf M}_e\) between the camera frame and the mobile robot end effector frame.
`get_cVe`	Overloaded function.
`get_eJe`	Return the robot jacobian \({^e}{\bf J}_e\) expressed in the end effector frame.
`set_cMe`	Set the transformation between the camera frame and the end effector frame.
`set_eJe`	Set the robot jacobian \({^e}{\bf J}_e\) expressed in the end effector frame.

Inherited Methods

Operators

`__annotations__`
`__doc__`
`__init__`	Default constructor that does nothing.
`__module__`

Attributes

`__annotations__`

__init__(self)¶: Default constructor that does nothing.

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) → visp._visp.core.Matrix¶

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

Returns:: The robot jacobian 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.

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

set_eJe(self, eJe: visp._visp.core.Matrix) → None¶

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

Parameters:

eJe: visp._visp.core.Matrix¶: 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.