Visual Servoing Platform version 3.6.0
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vpSimulatorPioneerPan.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Pioneer mobile robot equipped with a pan head simulator without display.
33 *
34*****************************************************************************/
35
36#ifndef vpSimulatorPioneerPan_H
37#define vpSimulatorPioneerPan_H
38
45#include <visp3/core/vpColVector.h>
46#include <visp3/core/vpHomogeneousMatrix.h>
47#include <visp3/core/vpMatrix.h>
48#include <visp3/robot/vpPioneerPan.h>
49#include <visp3/robot/vpRobot.h>
50#include <visp3/robot/vpRobotSimulator.h>
51
101class VISP_EXPORT vpSimulatorPioneerPan : public vpPioneerPan, public vpRobotSimulator
102{
103
104protected:
106 vpHomogeneousMatrix wMc_; // world to camera
107 vpHomogeneousMatrix wMm_; // world to mobile robot frame located between the two weels
108 // mMp_ mobile robot to pan frame is a protected member of vpPioneerPan
109 // pMe_ pan head to end effector frame is a protected member of vpPioneerPan
110 // cMe_ is a protected member of vpUnicycle
111
112 double xm_;
113 double ym_;
114 double theta_;
115 double q_pan_;
116
117public:
119 virtual ~vpSimulatorPioneerPan();
120
121public:
124 void get_eJe(vpMatrix &eJe);
125
126 void getPosition(vpHomogeneousMatrix &wMc) const;
128 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
130
131private:
132 void init();
133
134 // Non implemented virtual pure functions
135 void get_fJe(vpMatrix & /*_fJe */){};
136 void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */){};
137 void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */){};
138};
139
140#endif
Implementation of column vector and the associated operations.
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 Pioneer mobile robots equiped with a pan head.
This class aims to be a basis used to create all the robot simulators.
vpControlFrameType
Definition vpRobot.h:73
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Class that defines the Pioneer mobile robot simulator equipped with a camera able to move in pan.
vpHomogeneousMatrix wMc_
robot / camera location in the world frame
vpMatrix get_eJe() const
Definition vpUnicycle.h:104