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Visual Servoing Platform
version 3.2.0
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#include <vpPioneerPan.h>
Public Member Functions | |
vpPioneerPan () | |
virtual | ~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) |
Generic functions for Pioneer mobile robots equiped with a pan head.
This class provides common features for Pioneer mobile robots equiped with a pan head.
This robot has three control velocities , 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
with respectively the translational and rotational control velocities of the mobile platform,
the joint velocity of the pan head and
the six dimention velocity skew expressed at point E in frame E, the robot jacobian is given by:
with the position of the head base frame in the mobile platform frame located at the middle point between the two weels.
Definition at line 96 of file vpPioneerPan.h.
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inline |
Create a pioneer mobile robot equiped with a pan head.
Definition at line 102 of file vpPioneerPan.h.
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inlinevirtual |
Destructor that does nothing.
Definition at line 114 of file vpPioneerPan.h.
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inlineinherited |
Return the tranformation between the camera frame and the mobile robot end effector frame.
Definition at line 73 of file vpUnicycle.h.
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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.
Definition at line 81 of file vpUnicycle.h.
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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.
Definition at line 96 of file vpUnicycle.h.
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inlineinherited |
Return the robot jacobian expressed in the end effector frame.
Definition at line 106 of file vpUnicycle.h.
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inlineprotected |
Set the transformation between the camera frame and the pan head end effector frame.
Definition at line 174 of file vpPioneerPan.h.
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inlineinherited |
Set the transformation between the camera frame and the end effector frame.
Definition at line 112 of file vpUnicycle.h.
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inlineinherited |
Set the robot jacobian expressed in the end effector frame.
eJe | : The robot jacobian to set such as ![]() ![]() ![]() |
Definition at line 122 of file vpUnicycle.h.
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inline |
Set the robot jacobian expressed at point E the end effector frame located on the pan head.
Considering with
respectively the translational and rotational control velocities of the mobile platform,
the joint velocity of the pan head and
the six dimention velocity skew expressed at point E in frame E, the robot jacobian is given by:
with the position of the head base frame in the mobile platform frame located at the middle point between the two weels.
Definition at line 145 of file vpPioneerPan.h.
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inlineprotected |
Set the transformation between the mobile platform frame located at the middle point between the two weels and the base frame of the pan head.
Definition at line 198 of file vpPioneerPan.h.
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inlineprotected |
Set the transformation between the pan head reference frame and the end-effector frame.
q | : Position in rad of the pan axis. |
Definition at line 221 of file vpPioneerPan.h.
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protectedinherited |
Definition at line 126 of file vpUnicycle.h.
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protectedinherited |
Definition at line 127 of file vpUnicycle.h.
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protected |
Definition at line 235 of file vpPioneerPan.h.
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protected |
Definition at line 236 of file vpPioneerPan.h.