#include <vpPioneerPan.h>

Inheritance diagram for vpPioneerPan:

Public Member Functions
	vpPioneerPan ()
Inherited functionalities from vpPioneerPan
void	set_eJe (double q_pan)

Protected Member Functions Inherited from vpPioneerPan
vpHomogeneousMatrix	mMp_
vpHomogeneousMatrix	pMe_
void	set_cMe ()
void	set_mMp ()
void	set_pMe (const double q)

Inherited functionalities from vpUnicycle
vpHomogeneousMatrix	cMe_
vpMatrix	eJe_
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)

Detailed Description

Generic functions for Pioneer mobile robots equipped with a pan head.

This class provides common features for Pioneer mobile robots equipped with a pan head.

This robot has three control velocities $(v_x, w_z, \dot{q_1})$ , the translational and rotational velocities of the mobile platform, the pan head velocity 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 pan axis.

Considering

$\‍[{\bf v} = {^e}{\bf J}_e \; \left(\begin{array}{c} v_x \\ w_z \\ \dot{q_1} \\ \end{array} \right) \‍]$

with respectively the translational and rotational control velocities of the mobile platform, $\dot{q_1}$ the joint velocity of the pan head and $\bf v$ the six dimension velocity skew expressed at point E in frame E, the robot jacobian is given by:

$\‍[{^e}{\bf J}_e = \left(\begin{array}{ccc} c_1 & -c_1*p_y - s_1*p_x & 0 \\ 0 & 0 & 0 \\ s_1 & -s_1*p_y + c_1*p_x & 0 \\ 0 & 0 & 0 \\ 0 & -1 & 1 \\ 0 & 0 & 0 \\ \end{array} \right) \‍]$

with the position of the head base frame in the mobile platform frame located at the middle point between the two wheels.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 92 of file vpPioneerPan.h.

Constructor & Destructor Documentation

◆ vpPioneerPan()

vpPioneerPan::vpPioneerPan ( )

inline

Create a pioneer mobile robot equipped with a pan head.

Definition at line 98 of file vpPioneerPan.h.

References mMp_, pMe_, vpUnicycle::set_cMe(), vpUnicycle::set_eJe(), set_mMp(), and set_pMe().

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() [1/2]

void vpPioneerPan::set_cMe ( )

inlineprotected

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

Definition at line 164 of file vpPioneerPan.h.

References vpHomogeneousMatrix::buildFrom(), vpUnicycle::cMe_, and vpHomogeneousMatrix::inverse().

◆ set_cMe() [2/2]

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() [1/2]

void vpPioneerPan::set_eJe ( double q_pan )

inline

Set the robot jacobian expressed at point E the end effector frame located on the pan head.

Considering ${\bf v} = {^e}{\bf J}_e \; [v_x, w_z, \dot{q_1}]$ with respectively the translational and rotational control velocities of the mobile platform, $\dot{q_1}$ the joint velocity of the pan head and $\bf v$ the six dimension velocity skew expressed at point E in frame E, the robot jacobian is given by:

$\‍[{^e}{\bf J}_e = \left(\begin{array}{ccc} c_1 & -c_1*p_y - s_1*p_x & 0 \\ 0 & 0 & 0 \\ s_1 & -s_1*p_y + c_1*p_x & 0 \\ 0 & 0 & 0 \\ 0 & -1 & 1 \\ 0 & 0 & 0 \\ \end{array} \right) \‍]$

with the position of the head base frame in the mobile platform frame located at the middle point between the two wheels.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 135 of file vpPioneerPan.h.

References vpUnicycle::eJe_, and mMp_.

Referenced by vpSimulatorPioneerPan::setVelocity().

◆ set_eJe() [2/2]

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.