38 #include <visp3/core/vpConfig.h> 39 #include <visp3/robot/vpRobotException.h> 40 #include <visp3/robot/vpRobotPioneer.h> 46 #include <visp3/core/vpMath.h> 48 #ifdef VISP_HAVE_PIONEER 66 std::cout <<
"Ending robot thread..." << std::endl;
123 this->setVel(vel_sat[0]*1000.);
135 this->setVel2(vel_sat[0]*1000., vel_sat[1]*1000.);
141 "Cannot send the robot velocity in the specified control frame");
159 this->runAsync(
true);
161 this->enableMotors();
194 velocity[0] = this->getLeftVel() / 1000.;
195 velocity[1] = this->getRightVel() / 1000;
201 velocity[0] = this->getVel() / 1000.;
207 "Cannot get the robot volocity in the specified control frame");
236 #elif !defined(VISP_BUILD_SHARED_LIBS) 238 void dummy_vpRobotPioneer() {};
Error that can be emited by the vpRobot class and its derivates.
double getMaxTranslationVelocity(void) const
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
unsigned int size() const
Return the number of elements of the 2D array.
double getMaxRotationVelocity(void) const
virtual ~vpRobotPioneer()
Generic functions for Pioneer mobile robots.
static double rad(double deg)
static double deg(double rad)
Implementation of column vector and the associated operations.
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void resize(const unsigned int i, const bool flagNullify=true)