/usr/include/visp/vpUnicycle.h is in libvisp-dev 2.9.0-3+b2.
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*
* $Id: vpUnicycle.h 4632 2014-02-03 17:06:40Z 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:
* Common features for unicycle mobile robots.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#ifndef VPUNICYCLE_H
#define VPUNICYCLE_H
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpVelocityTwistMatrix.h>
/*!
\class vpUnicycle
\ingroup Pioneer
\brief Generic functions for unicycle mobile robots.
This class provides common features for unicycle mobile robots.
*/
class VISP_EXPORT vpUnicycle
{
public:
/*!
Default constructor that does nothing.
*/
vpUnicycle() : cMe_(), eJe_()
{
};
/*!
Destructor that does nothing.
*/
virtual ~vpUnicycle() {};
/*!
Return the tranformation \f${^c}{\bf M}_e\f$ between the camera frame
and the mobile robot end effector frame.
*/
vpHomogeneousMatrix get_cMe() const
{
return cMe_;
}
/*!
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.
*/
vpVelocityTwistMatrix get_cVe() const
{
vpVelocityTwistMatrix cVe;
cVe.buildFrom(cMe_) ;
return cVe;
}
/*!
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.
\sa get_cVe()
*/
void get_cVe(vpVelocityTwistMatrix &cVe) const
{
cVe = vpUnicycle::get_cVe();
}
/*!
Return the robot jacobian \f${^e}{\bf J}_e\f$ expressed in the end effector frame.
\return The robot jacobian such as \f${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}\f$ with
\f$\dot{\bf q} = (v_x, w_z)\f$ the robot control velocities and \f$\bf v\f$ the six dimention velocity skew.
*/
vpMatrix get_eJe() const
{
return eJe_;
}
/*!
Set the transformation between the camera frame and the end effector frame.
*/
void set_cMe(const vpHomogeneousMatrix &cMe)
{
cMe_ = cMe;
}
/*!
Set the robot jacobian \f${^e}{\bf J}_e\f$ expressed in the end effector frame.
\param eJe : The robot jacobian to set such as \f${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}\f$ with
\f$\dot{\bf q} = (v_x, w_z)\f$ the robot control velocities and \f$\bf v\f$ the six dimention velocity skew.
*/
void set_eJe(const vpMatrix &eJe)
{
eJe_ = eJe;
}
protected:
vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
vpMatrix eJe_; // Robot jacobian
};
#endif
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