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Visual Servoing Platform version 3.6.0
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#include <vpPioneer.h>
Public Member Functions | |
vpPioneer () | |
virtual | ~vpPioneer () |
Inherited functionalities from vpUnicycle | |
vpHomogeneousMatrix | get_cMe () const |
vpVelocityTwistMatrix | get_cVe () const |
void | get_cVe (vpVelocityTwistMatrix &cVe) const |
vpMatrix | get_eJe () const |
void | set_cMe (const vpHomogeneousMatrix &cMe) |
void | set_eJe (const vpMatrix &eJe) |
vpHomogeneousMatrix | cMe_ |
vpMatrix | eJe_ |
Generic functions for Pioneer mobile robots.
This class provides common features for Pioneer mobile robots. This robot has two control velocities
The figure below shows the position of the frames that are used to model the robot. The end effector frame is here located at the middle point between the two wheels.
The robot jacobian at the end effector frame, the point located at the middle between the two wheels is given by:
Considering
.
Definition at line 88 of file vpPioneer.h.
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inline |
Create a default Pioneer robot.
Definition at line 94 of file vpPioneer.h.
References vpUnicycle::set_cMe(), and vpUnicycle::set_eJe().
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inlinevirtual |
Destructor that does nothing.
Definition at line 103 of file vpPioneer.h.
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inlineinherited |
Return the tranformation
Definition at line 71 of file vpUnicycle.h.
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inlineinherited |
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.
Definition at line 79 of file vpUnicycle.h.
References vpVelocityTwistMatrix::buildFrom().
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inlineinherited |
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.
Definition at line 94 of file vpUnicycle.h.
References vpUnicycle::get_cVe().
Referenced by vpUnicycle::get_cVe().
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inlineinherited |
Return the robot jacobian
Definition at line 104 of file vpUnicycle.h.
Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and vpSimulatorPioneerPan::get_eJe().
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inlineinherited |
Set the transformation between the camera frame and the end effector frame.
Definition at line 110 of file vpUnicycle.h.
Referenced by vpPioneer(), and vpPioneerPan::vpPioneerPan().
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inlineinherited |
Set the robot jacobian
eJe | : The robot jacobian to set such as ![]() ![]() ![]() |
Definition at line 120 of file vpUnicycle.h.
Referenced by vpPioneer(), and vpPioneerPan::vpPioneerPan().
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protectedinherited |
Definition at line 124 of file vpUnicycle.h.
Referenced by vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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protectedinherited |
Definition at line 125 of file vpUnicycle.h.