Visual Servoing Platform  version 3.2.0
vpSimulatorPioneerPan Class Reference

#include <vpSimulatorPioneerPan.h>

+ Inheritance diagram for vpSimulatorPioneerPan:

Public Types

enum  vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }
 
enum  vpControlFrameType {
  REFERENCE_FRAME, ARTICULAR_FRAME, JOINT_STATE = ARTICULAR_FRAME, END_EFFECTOR_FRAME,
  CAMERA_FRAME, TOOL_FRAME = CAMERA_FRAME, MIXT_FRAME
}
 

Public Member Functions

 vpSimulatorPioneerPan ()
 
virtual ~vpSimulatorPioneerPan ()
 
Inherited functionalities from vpPioneerPan
void set_eJe (double q_pan)
 
Inherited functionalities from vpRobotSimulator
double getSamplingTime () const
 
virtual void setSamplingTime (const double &delta_t)
 
Inherited functionalities from vpRobot
double getMaxTranslationVelocity (void) const
 
double getMaxRotationVelocity (void) const
 
vpColVector getPosition (const vpRobot::vpControlFrameType frame)
 
virtual vpRobotStateType getRobotState (void) const
 
void setMaxRotationVelocity (const double maxVr)
 
void setMaxTranslationVelocity (const double maxVt)
 
virtual vpRobotStateType setRobotState (const vpRobot::vpRobotStateType newState)
 
void setVerbose (bool verbose)
 

Static Public Member Functions

Static Public Member Functions inherited from vpRobot
static vpColVector saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
 

Protected Member Functions

Protected Member Functions Inherited from vpRobot
vpControlFrameType setRobotFrame (vpRobot::vpControlFrameType newFrame)
 
vpControlFrameType getRobotFrame (void) const
 

Protected Attributes

vpHomogeneousMatrix wMc_
 
vpHomogeneousMatrix wMm_
 
double xm_
 
double ym_
 
double theta_
 
double q_pan_
 
double delta_t_
 
double maxTranslationVelocity
 
double maxRotationVelocity
 
int nDof
 
vpMatrix eJe
 
int eJeAvailable
 
vpMatrix fJe
 
int fJeAvailable
 
int areJointLimitsAvailable
 
double * qmin
 
double * qmax
 
bool verbose_
 

Static Protected Attributes

static const double maxTranslationVelocityDefault = 0.2
 
static const double maxRotationVelocityDefault = 0.7
 

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 vpSimulatorPioneerPan

void get_eJe (vpMatrix &eJe)
 
void getPosition (vpHomogeneousMatrix &wMc) const
 
void getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)
 
void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)
 

Inherited functionalities from vpUnicycle

vpHomogeneousMatrix cMe_
 
vpMatrix eJe_
 
void set_eJe (const vpMatrix &eJe)
 
void set_cMe (const vpHomogeneousMatrix &cMe)
 
vpHomogeneousMatrix get_cMe () const
 
vpVelocityTwistMatrix get_cVe () const
 
void get_cVe (vpVelocityTwistMatrix &cVe) const
 
vpMatrix get_eJe () const
 

Detailed Description

Class that defines the Pioneer mobile robot simulator equipped with a camera able to move in pan.

It intends to simulate the mobile robot described in vpPioneerPan class. This robot has 3 dof: $(v_x, w_z, \dot{q_1})$, the translational and rotational velocities of the mobile platform, the pan head velocity respectively.

The robot position evolves with respect to a world frame; wMc. When a new joint velocity is applied to the robot using setVelocity(), the position of the camera wrt the world frame is updated.

The following code shows how to control this robot in position and velocity.

#include <visp3/robot/vpSimulatorPioneerPan.h>
int main()
{
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "Default position of the camera in the world frame wMc:\n" << wMc << std::endl;
robot.setSamplingTime(0.100); // Modify the default sampling time to 0.1 second
robot.setMaxTranslationVelocity(1.); // vx max set to 1 m/s
robot.setMaxRotationVelocity(vpMath::rad(90)); // wz max set to 90 deg/s
vpColVector v(3); // we control vx, wz and q_pan
v = 0;
v[0] = 1.; // set vx to 1 m/s
// The robot has moved from 0.1 meters along the z axis
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "New position of the camera wMc:\n" << wMc << std::endl;
}

The usage of this class is also highlighted in Tutorial: Visual servo simulation on a pioneer-like unicycle robot.

Examples
tutorial-simu-pioneer-pan.cpp.

Definition at line 103 of file vpSimulatorPioneerPan.h.

Member Enumeration Documentation

◆ vpControlFrameType

Robot control frames.

Enumerator
REFERENCE_FRAME 

Corresponds to a fixed reference frame attached to the robot structure.

ARTICULAR_FRAME 

Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.

JOINT_STATE 

Corresponds to the joint state.

END_EFFECTOR_FRAME 

Corresponds to robot end-effector frame.

CAMERA_FRAME 

Corresponds to a frame attached to the camera mounted on the robot end-effector.

TOOL_FRAME 

Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.

MIXT_FRAME 

Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 74 of file vpRobot.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType
inherited

Robot control states.

Enumerator
STATE_STOP 

Stops robot motion especially in velocity and acceleration control.

STATE_VELOCITY_CONTROL 

Initialize the velocity controller.

STATE_POSITION_CONTROL 

Initialize the position controller.

STATE_ACCELERATION_CONTROL 

Initialize the acceleration controller.

Definition at line 63 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpSimulatorPioneerPan()

vpSimulatorPioneerPan::vpSimulatorPioneerPan ( )

Constructor.

Initialise the robot by a call to init().

Sampling time is set to 40 ms. To change it you should call setSamplingTime().

Definition at line 59 of file vpSimulatorPioneerPan.cpp.

◆ ~vpSimulatorPioneerPan()

vpSimulatorPioneerPan::~vpSimulatorPioneerPan ( )
virtual

Destructor.

Definition at line 92 of file vpSimulatorPioneerPan.cpp.

Member Function Documentation

◆ get_cMe()

vpHomogeneousMatrix vpUnicycle::get_cMe ( ) const
inlineinherited

Return the tranformation ${^c}{\bf M}_e$ between the camera frame and the mobile robot end effector frame.

Definition at line 73 of file vpUnicycle.h.

◆ get_cVe() [1/2]

vpVelocityTwistMatrix vpUnicycle::get_cVe ( ) const
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.

Examples
servoPioneerPanSegment3D.cpp.

Definition at line 81 of file vpUnicycle.h.

◆ get_cVe() [2/2]

void vpUnicycle::get_cVe ( vpVelocityTwistMatrix cVe) const
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.

See also
get_cVe()

Definition at line 96 of file vpUnicycle.h.

◆ get_eJe() [1/2]

vpMatrix vpUnicycle::get_eJe ( ) const
inlineinherited

Return the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Returns
The robot jacobian such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimention velocity skew.
Examples
servoPioneerPanSegment3D.cpp.

Definition at line 106 of file vpUnicycle.h.

◆ get_eJe() [2/2]

void vpSimulatorPioneerPan::get_eJe ( vpMatrix _eJe)
virtual

Get the robot jacobian expressed in the end-effector frame. The jacobian expression is given in vpPioneerPan class.

Parameters
_eJe: A 6 by 3 matrix representing the robot jacobian $ {^e}{\bf J}_e$ expressed in the end-effector frame.

Implements vpRobot.

Definition at line 101 of file vpSimulatorPioneerPan.cpp.

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void  ) const
inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns
Maximum rotation velocity expressed in rad/s.

Definition at line 272 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void  ) const
inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns
Maximum translational velocity expressed in m/s.

Definition at line 250 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().

◆ getPosition() [1/3]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType  frame)
inherited

Return the current robot position in the specified frame.

Definition at line 215 of file vpRobot.cpp.

◆ getPosition() [2/3]

void vpSimulatorPioneerPan::getPosition ( const vpRobot::vpControlFrameType  frame,
vpColVector q 
)
virtual

◆ getPosition() [3/3]

void vpSimulatorPioneerPan::getPosition ( vpHomogeneousMatrix wMc) const

Get the robot position in the world frame.

Definition at line 184 of file vpSimulatorPioneerPan.cpp.

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void  ) const
inlineprotectedinherited

Definition at line 171 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity().

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void  ) const
inlinevirtualinherited

◆ getSamplingTime()

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities ( const vpColVector v_in,
const vpColVector v_max,
bool  verbose = false 
)
staticinherited

Saturate velocities.

Parameters
v_in: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose: Print a message indicating which axis causes the saturation.
Returns
Saturated velocities.
Exceptions
vpRobotException::dimensionError: If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
#include <visp3/robot/vpRobot.h>
int main()
{
// Set a velocity skew vector
v[0] = 0.1; // vx in m/s
v[1] = 0.2; // vy
v[2] = 0.3; // vz
v[3] = vpMath::rad(10); // wx in rad/s
v[4] = vpMath::rad(-10); // wy
v[5] = vpMath::rad(20); // wz
// Set the maximal allowed velocities
vpColVector v_max(6);
for (int i=0; i<3; i++)
v_max[i] = 0.3; // in translation (m/s)
for (int i=3; i<6; i++)
v_max[i] = vpMath::rad(10); // in rotation (rad/s)
// Compute the saturated velocity skew vector
vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
std::cout << "v : " << v.t() << std::endl;
std::cout << "v max: " << v_max.t() << std::endl;
std::cout << "v sat: " << v_sat.t() << std::endl;
return 0;
}

Definition at line 162 of file vpRobot.cpp.

◆ set_cMe() [1/2]

void vpPioneerPan::set_cMe ( )
inlineprotectedinherited

Set the transformation between the camera frame and the pan head end effector frame.

Definition at line 174 of file vpPioneerPan.h.

◆ set_cMe() [2/2]

void vpUnicycle::set_cMe ( const vpHomogeneousMatrix cMe)
inlineinherited

Set the transformation between the camera frame and the end effector frame.

Definition at line 112 of file vpUnicycle.h.

◆ set_eJe() [1/2]

void vpUnicycle::set_eJe ( const vpMatrix eJe)
inlineinherited

Set the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Parameters
eJe: The robot jacobian to set such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimention velocity skew.

Definition at line 122 of file vpUnicycle.h.

◆ set_eJe() [2/2]

void vpPioneerPan::set_eJe ( double  q_pan)
inlineinherited

Set the robot jacobian expressed at point E the end effector frame located on the pan head.

Considering ${\bf v} = {^e}{\bf J}_e \; [v_x, w_z, \dot{q_1}]$ with $(v_x, w_z)$ respectively the translational and rotational control velocities of the mobile platform, $\dot{q_1}$ the joint velocity of the pan head and $\bf v$ the six dimention velocity skew expressed at point E in frame E, the robot jacobian is given by:

\[ {^e}{\bf J}_e = \left(\begin{array}{ccc} c_1 & -c_1*p_y - s_1*p_x & 0 \\ 0 & 0 & 0 \\ s_1 & -s_1*p_y + c_1*p_x & 0 \\ 0 & 0 & 0 \\ 0 & -1 & 1 \\ 0 & 0 & 0 \\ \end{array} \right) \]

with $p_x, p_y$ the position of the head base frame in the mobile platform frame located at the middle point between the two weels.

Examples
servoPioneerPanSegment3D.cpp.

Definition at line 145 of file vpPioneerPan.h.

◆ set_mMp()

void vpPioneerPan::set_mMp ( )
inlineprotectedinherited

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.

◆ set_pMe()

void vpPioneerPan::set_pMe ( const double  q)
inlineprotectedinherited

Set the transformation between the pan head reference frame and the end-effector frame.

Parameters
q: Position in rad of the pan axis.

Definition at line 221 of file vpPioneerPan.h.

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( const double  w_max)
inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters
w_max: Maximum rotational velocity expressed in rad/s.
Examples
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, testFeatureSegment.cpp, and testFrankaJointVelocityLimits.cpp.

Definition at line 259 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( const double  v_max)
inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters
v_max: Maximum translation velocity expressed in m/s.
Examples
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 238 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

◆ setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType  newFrame)
protectedinherited

Definition at line 206 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), and vpSimulatorAfma6::setVelocity().

◆ setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType  newState)
virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, vpRobotPtu46, vpSimulatorViper850, and vpSimulatorAfma6.

Examples
frankaMoveToPosition.cpp, frankaSavePosition.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricVisualServoing.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFrankaPBVS.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaJointPosition.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseAfma6.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 200 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setRobotState(), and vpSimulatorAfma6::stopMotion().

◆ setSamplingTime()

◆ setVelocity()

void vpSimulatorPioneerPan::setVelocity ( const vpRobot::vpControlFrameType  frame,
const vpColVector v 
)
virtual

Send to the controller a velocity.

Parameters
frame: Control frame type. Only vpRobot::ARTICULAR_FRAME is implemented.
v: Velocity vector $(v_x, \omega_z, \dot q)$ to apply to the robot, where $v_x$ is the linear translational velocity in m/s and $\omega_z$ is the rotational velocity in rad/s arround the vertical axis of the mobile base, and, $\dot q$ is the pan velocity in rad/s of the camera.

Depending on the velocity specified as input, the robot position is updated using the sampling time that can be modified using setSamplingTime().

See also
setSamplingTime()

Implements vpRobot.

Definition at line 121 of file vpSimulatorPioneerPan.cpp.

◆ setVerbose()

void vpRobot::setVerbose ( bool  verbose)
inlineinherited

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable
protectedinherited

Definition at line 111 of file vpRobot.h.

◆ cMe_

vpHomogeneousMatrix vpUnicycle::cMe_
protectedinherited

Definition at line 126 of file vpUnicycle.h.

◆ delta_t_

double vpRobotSimulator::delta_t_
protectedinherited

Definition at line 64 of file vpRobotSimulator.h.

◆ eJe

vpMatrix vpRobot::eJe
protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 103 of file vpRobot.h.

◆ eJe_

vpMatrix vpUnicycle::eJe_
protectedinherited

Definition at line 127 of file vpUnicycle.h.

◆ eJeAvailable

int vpRobot::eJeAvailable
protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 105 of file vpRobot.h.

◆ fJe

vpMatrix vpRobot::fJe
protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

◆ fJeAvailable

int vpRobot::fJeAvailable
protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 109 of file vpRobot.h.

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity
protectedinherited

Definition at line 97 of file vpRobot.h.

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7
staticprotectedinherited

Definition at line 98 of file vpRobot.h.

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity
protectedinherited

Definition at line 95 of file vpRobot.h.

◆ maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2
staticprotectedinherited

Definition at line 96 of file vpRobot.h.

◆ mMp_

vpHomogeneousMatrix vpPioneerPan::mMp_
protectedinherited

Definition at line 235 of file vpPioneerPan.h.

◆ nDof

int vpRobot::nDof
protectedinherited

number of degrees of freedom

Definition at line 101 of file vpRobot.h.

◆ pMe_

vpHomogeneousMatrix vpPioneerPan::pMe_
protectedinherited

Definition at line 236 of file vpPioneerPan.h.

◆ q_pan_

double vpSimulatorPioneerPan::q_pan_
protected

Definition at line 117 of file vpSimulatorPioneerPan.h.

◆ qmax

double* vpRobot::qmax
protectedinherited

Definition at line 113 of file vpRobot.h.

◆ qmin

double* vpRobot::qmin
protectedinherited

Definition at line 112 of file vpRobot.h.

◆ theta_

double vpSimulatorPioneerPan::theta_
protected

Definition at line 116 of file vpSimulatorPioneerPan.h.

◆ verbose_

bool vpRobot::verbose_
protectedinherited

Definition at line 115 of file vpRobot.h.

◆ wMc_

vpHomogeneousMatrix vpSimulatorPioneerPan::wMc_
protected

robot / camera location in the world frame

Definition at line 108 of file vpSimulatorPioneerPan.h.

Referenced by getPosition().

◆ wMm_

vpHomogeneousMatrix vpSimulatorPioneerPan::wMm_
protected

Definition at line 109 of file vpSimulatorPioneerPan.h.

◆ xm_

double vpSimulatorPioneerPan::xm_
protected

Definition at line 114 of file vpSimulatorPioneerPan.h.

◆ ym_

double vpSimulatorPioneerPan::ym_
protected

Definition at line 115 of file vpSimulatorPioneerPan.h.

vpRobot::ARTICULAR_FRAME
Definition: vpRobot.h:77
vpRobot::setMaxTranslationVelocity
void setMaxTranslationVelocity(const double maxVt)
Definition: vpRobot.cpp:238
vpColVector::t
vpRowVector t() const
Definition: vpColVector.cpp:695
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:101
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpRobot::saturateVelocities
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition: vpRobot.cpp:162
vpSimulatorCamera::getPosition
vpHomogeneousMatrix getPosition() const
Definition: vpSimulatorCamera.cpp:118
vpSimulatorPioneerPan
Class that defines the Pioneer mobile robot simulator equipped with a camera able to move in pan.
Definition: vpSimulatorPioneerPan.h:103
vpRobot::setMaxRotationVelocity
void setMaxRotationVelocity(const double maxVr)
Definition: vpRobot.cpp:259
vpRobotSimulator::setSamplingTime
virtual void setSamplingTime(const double &delta_t)
Definition: vpRobotSimulator.h:90
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:91
vpSimulatorCamera::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpSimulatorCamera.cpp:197