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*
* $Id: vpRobotPioneer.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Interface for Pioneer mobile robots based on Aria 3rd party library.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#ifndef VPROBOTPIONEER_H
#define VPROBOTPIONEER_H
#include <visp/vpConfig.h>
#include <visp/vpRobot.h>
#include <visp/vpPioneer.h>
#ifdef VISP_HAVE_PIONEER
#include <Aria.h>
/*!
\class vpRobotPioneer
\ingroup Pioneer RobotDriver
\brief Interface for Pioneer mobile robots based on Aria 3rd party library.
This class provides a position and speed control interface for Pioneer mobile robots.
It inherits from the Aria ArRobot class. For more information about the model of the robot,
see vpPioneer documentation.
*/
class VISP_EXPORT vpRobotPioneer: public vpRobot, public vpPioneer, public ArRobot
{
private: /* Not allowed functions. */
/*!
Copy constructor not allowed.
*/
vpRobotPioneer(const vpRobotPioneer &robot);
public:
vpRobotPioneer();
virtual ~vpRobotPioneer();
/*!
Get the robot Jacobian expressed at point E, the point located at the
middle between the two wheels.
\param eJe : Robot jacobian such as \f$(v_x, w_z) = {^e}{\bf J}e \; {\bf v}\f$ with
\f$(v_x, w_z)\f$ respectively the translational and rotational control velocities
of the mobile robot, \f$\bf v\f$ the six dimention velocity skew, and where
\sa get_eJe()
*/
void get_eJe(vpMatrix & eJe)
{
eJe = vpUnicycle::get_eJe();
}
private: // Set as private since not implemented
/*!
Get the robot Jacobian expressed in the robot reference (or world) frame.
\warning Not implemented.
*/
void get_fJe(vpMatrix & /*fJe*/) {} ;
/*!
Get a displacement (frame as to ve specified) between two successive position control.
\warning Not implemented.
*/
void getDisplacement(const vpRobot::vpControlFrameType /*frame*/, vpColVector &/*q*/) {};
public:
void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & velocity);
vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
private: // Set as private since not implemented
/*!
Get the robot position (frame has to be specified).
\warning Not implemented.
*/
void getPosition(const vpRobot::vpControlFrameType /*frame*/, vpColVector &/*q*/) {};
public:
void init();
private: // Set as private since not implemented
/*!
Set a displacement (frame has to be specified) in position control.
\warning Not implemented.
*/
void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector &/*q*/) {};
public:
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
/*!
Enable or disable sonar device usage.
*/
void useSonar(bool usage)
{
this->comInt(ArCommands::SONAR, usage);
}
protected:
bool isInitialized;
};
#endif
#endif // VPROBOTPIONEER_H
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