 |
Visual Servoing Platform
version 3.2.0
|
39 #include <visp3/core/vpConfig.h>
40 #include <visp3/robot/vpRobotException.h>
41 #include <visp3/robot/vpRobotPioneer.h>
47 #include <visp3/core/vpMath.h>
49 #ifdef VISP_HAVE_PIONEER
56 isInitialized =
false;
67 std::cout <<
"Ending robot thread..." << std::endl;
114 if (vel.
size() != 2) {
127 this->setVel(vel_sat[0] * 1000.);
137 this->setVel2(vel_sat[0] * 1000.,
142 "Cannot send the robot velocity in the specified control frame");
160 this->runAsync(
true);
162 this->enableMotors();
196 velocity[0] = this->getLeftVel() / 1000.;
197 velocity[1] = this->getRightVel() / 1000;
201 velocity[0] = this->getVel() / 1000.;
206 "Cannot get the robot volocity in the specified control frame");
237 #elif !defined(VISP_BUILD_SHARED_LIBS)
240 void dummy_vpRobotPioneer(){};
void resize(const unsigned int i, const bool flagNullify=true)
double getMaxTranslationVelocity(void) const
static double rad(double deg)
double getMaxRotationVelocity(void) const
virtual ~vpRobotPioneer()
static double deg(double rad)
Error that can be emited by the vpRobot class and its derivates.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Implementation of column vector and the associated operations.
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Generic functions for Pioneer mobile robots.
unsigned int size() const
Return the number of elements of the 2D array.