#include <vpPioneer.h>

Inheritance diagram for vpPioneer:

Public Member Functions
	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_

Detailed Description

Generic functions for Pioneer mobile robots.

This class provides common features for Pioneer mobile robots. This robot has two control velocities , the translational and rotational velocities of the mobile platform respectively.

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:

$\‍[{^e}{\bf J}_e = \left(\begin{array}{cc} 1 & 0 \\ 0 & 0 \\ 0 & 0 \\ 0 & 0 \\ 0 & 0 \\ 0 & 1 \\ \end{array} \right) \‍]$

Considering , it is possible to compute $\bf v$ the six dimension velocity skew expressed at the end effector frame by:

$\‍[{\bf v} = {^e}{\bf J}_e \; \left(\begin{array}{c} v_x \\ w_z \\ \end{array} \right) \‍]$

.

Definition at line 86 of file vpPioneer.h.

Constructor & Destructor Documentation

◆ vpPioneer()

vpPioneer::vpPioneer ( )

inline

Create a default Pioneer robot.

Definition at line 92 of file vpPioneer.h.

References vpUnicycle::set_cMe(), vpUnicycle::set_eJe(), and vpUnicycle::vpUnicycle().

Referenced by vpRobotPioneer::vpRobotPioneer().

Member Function Documentation

◆ get_cMe()

vpHomogeneousMatrix vpUnicycle::get_cMe ( ) const

inlineinherited

Return the transformation ${^c}{\bf M}_e$ between the camera frame and the mobile robot end effector frame.

Definition at line 65 of file vpUnicycle.h.

References cMe_.

◆ get_cVe() [1/2]

vpVelocityTwistMatrix vpUnicycle::get_cVe ( ) const

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.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 72 of file vpUnicycle.h.

References vpVelocityTwistMatrix::buildFrom(), and cMe_.

◆ get_cVe() [2/2]

void vpUnicycle::get_cVe ( vpVelocityTwistMatrix & cVe ) const

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.

See also: get_cVe()

Definition at line 86 of file vpUnicycle.h.

References get_cVe().

Referenced by get_cVe().

◆ get_eJe()

vpMatrix vpUnicycle::get_eJe ( ) const

inlineinherited

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.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 96 of file vpUnicycle.h.

References eJe_.

Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and vpSimulatorPioneerPan::get_eJe().

◆ set_cMe()

void vpUnicycle::set_cMe ( const vpHomogeneousMatrix & cMe )

inlineinherited

Set the transformation between the camera frame and the end effector frame.

Definition at line 102 of file vpUnicycle.h.

References cMe_.

Referenced by vpPioneer::vpPioneer(), and vpPioneerPan::vpPioneerPan().

◆ set_eJe()

void vpUnicycle::set_eJe ( const vpMatrix & eJe )

inlineinherited

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

Parameters

eJe	: 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.