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vpPioneer.h
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/****************************************************************************
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*
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* $Id: vpPioneer.h 4056 2013-01-05 13:04:42Z 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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* Common features for Pioneer unicycle mobile robots.
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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 VPPIONEER_H
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#define VPPIONEER_H
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#include <visp/vpRxyzVector.h>
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#include <visp/vpTranslationVector.h>
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#include <visp/vpUnicycle.h>
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class
VISP_EXPORT
vpPioneer
:
public
vpUnicycle
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{
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public
:
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vpPioneer
() :
vpUnicycle
()
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{
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set_cMe
();
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set_eJe
();
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}
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virtual
~vpPioneer
() {};
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private
:
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void
set_cMe
()
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{
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// Position of the camera in the mobile platform frame
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double
l = 0.13;
// distance between the camera frame and the mobile robot frame
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vpTranslationVector
cte;
// meters
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vpRxyzVector
cre;
// radian
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cte.
set
(0, 0, -l);
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cre.
buildFrom
(
vpMath::rad
(90.), 0,
vpMath::rad
(90.));
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cMe_.buildFrom(cte,
vpRotationMatrix
(cre));
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}
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void
set_eJe
()
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{
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eJe_.resize(6, 2);
// pioneer jacobian expressed at point M
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eJe_ = 0;
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eJe_[0][0] = 1;
// vx
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eJe_[5][1] = 1;
// wz
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}
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};
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#endif
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src
robot
real-robot
pioneer
vpPioneer.h
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