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vpRobotPioneer.h
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/****************************************************************************
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*
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* $Id: vpRobotPioneer.h 4317 2013-07-17 09:40:17Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Interface for Pioneer mobile robots based on Aria 3rd party library.
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*
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* Authors:
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef VPROBOTPIONEER_H
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#define VPROBOTPIONEER_H
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#include <visp/vpConfig.h>
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#include <visp/vpRobot.h>
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#include <visp/vpPioneer.h>
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#ifdef VISP_HAVE_PIONEER
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#include <Aria.h>
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class
VISP_EXPORT
vpRobotPioneer
:
public
vpRobot
,
public
vpPioneer
,
public
ArRobot
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{
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private
:
/* Not allowed functions. */
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vpRobotPioneer
(
const
vpRobotPioneer
&robot);
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public
:
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vpRobotPioneer
();
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virtual
~
vpRobotPioneer
();
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void
get_eJe
(
vpMatrix
& eJe)
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{
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eJe =
vpUnicycle::get_eJe
();
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}
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private
:
// Set as private since not implemented
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void
get_fJe
(
vpMatrix
&
/*fJe*/
) {} ;
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void
getDisplacement
(
const
vpRobot::vpControlFrameType
/*frame*/
,
vpColVector
&
/*q*/
) {};
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public
:
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void
getVelocity (
const
vpRobot::vpControlFrameType
frame,
vpColVector
& velocity);
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vpColVector
getVelocity (
const
vpRobot::vpControlFrameType
frame);
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private
:
// Set as private since not implemented
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void
getPosition
(
const
vpRobot::vpControlFrameType
/*frame*/
,
vpColVector
&
/*q*/
) {};
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public
:
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void
init
();
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private
:
// Set as private since not implemented
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void
setPosition
(
const
vpRobot::vpControlFrameType
/*frame*/
,
const
vpColVector
&
/*q*/
) {};
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public
:
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void
setVelocity
(
const
vpRobot::vpControlFrameType
frame,
const
vpColVector
&vel);
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void
useSonar
(
bool
usage)
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{
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this->comInt(ArCommands::SONAR, usage);
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}
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protected
:
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bool
isInitialized
;
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};
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#endif
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#endif // VPROBOTPIONEER_H
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src
robot
real-robot
pioneer
vpRobotPioneer.h
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