Visual Servoing Platform
version 3.3.0
vpUnicycle.h
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Common features for unicycle mobile robots.
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*
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* Authors:
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef VPUNICYCLE_H
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#define VPUNICYCLE_H
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#include <visp3/core/vpHomogeneousMatrix.h>
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#include <visp3/core/vpTranslationVector.h>
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#include <visp3/core/vpVelocityTwistMatrix.h>
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class
VISP_EXPORT
vpUnicycle
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{
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public
:
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vpUnicycle
() : cMe_(), eJe_(){};
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virtual
~
vpUnicycle
(){};
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vpHomogeneousMatrix
get_cMe()
const
{
return
cMe_; }
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vpVelocityTwistMatrix
get_cVe()
const
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{
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vpVelocityTwistMatrix
cVe;
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cVe.
buildFrom
(cMe_);
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return
cVe;
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}
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void
get_cVe(
vpVelocityTwistMatrix
&cVe)
const
{ cVe = get_cVe(); }
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vpMatrix
get_eJe()
const
{
return
eJe_; }
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void
set_cMe(
const
vpHomogeneousMatrix
&cMe) { cMe_ = cMe; }
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void
set_eJe(
const
vpMatrix
&eJe) { eJe_ = eJe; }
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protected
:
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vpHomogeneousMatrix
cMe_;
// Camera frame to mobile platform frame
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vpMatrix
eJe_;
// Robot jacobian
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};
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#endif
vpMatrix
Implementation of a matrix and operations on matrices.
Definition:
vpMatrix.h:163
vpVelocityTwistMatrix
Definition:
vpVelocityTwistMatrix.h:165
vpVelocityTwistMatrix::buildFrom
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Definition:
vpVelocityTwistMatrix.cpp:363
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition:
vpHomogeneousMatrix.h:148
vpUnicycle
Generic functions for unicycle mobile robots.
Definition:
vpUnicycle.h:55
modules
robot
include
visp3
robot
vpUnicycle.h
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