Visual Servoing Platform version 3.6.0
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vpPioneerPan.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Common features for Pioneer unicycle mobile robots.
33 *
34*****************************************************************************/
35#ifndef VPPIONEERPAN_H
36#define VPPIONEERPAN_H
37
38#include <visp3/core/vpHomogeneousMatrix.h>
39#include <visp3/core/vpRxyzVector.h>
40#include <visp3/core/vpTranslationVector.h>
41#include <visp3/robot/vpUnicycle.h>
42
94class VISP_EXPORT vpPioneerPan : public vpUnicycle
95{
96public:
100 vpPioneerPan() : mMp_(), pMe_()
101 {
102 double q = 0; // Initial position of the pan axis
103 set_mMp();
104 set_pMe(q);
105 set_cMe();
106 set_eJe(q);
107 }
108
112 virtual ~vpPioneerPan(){};
113
116
143 void set_eJe(double q_pan)
144 {
145 double px = mMp_[0][3];
146 double py = mMp_[1][3];
147 double c1 = cos(q_pan);
148 double s1 = sin(q_pan);
149
150 eJe_.resize(6,
151 3); // robot jacobian expressed at the pan head end effector
152
153 eJe_ = 0;
154 eJe_[0][0] = c1;
155 eJe_[0][1] = -c1 * py - s1 * px;
156
157 eJe_[2][0] = s1;
158 eJe_[2][1] = -s1 * py + c1 * px;
159
160 eJe_[4][1] = -1;
161 eJe_[4][2] = 1;
162 }
164
165protected:
172 void set_cMe()
173 {
174 // Position of pan head end effector frame in the camera frame
175 double cx = 0;
176 double cy = -0.065; // distance between camera and tilt axis
177 double cz = 0;
178 vpTranslationVector etc(cx, cy, cz);
180 eRc[0][0] = eRc[1][1] = eRc[2][2] = 0;
181 eRc[0][2] = 1;
182 eRc[1][1] = 1;
183 eRc[2][0] = -1;
184
186 eMc.buildFrom(etc, eRc);
187
188 cMe_ = eMc.inverse();
189 }
190
196 void set_mMp()
197 {
198 // Position of the pan head in the mobile platform frame
199 double px = 0.103; // distance between the pan frame and the robot frame
200 double py = 0;
201 double pz = 0.27;
203 mtp.set(px, py, pz);
204
205 vpRotationMatrix mRp; // set to Identity
206 mRp[1][1] = mRp[2][2] = -1.;
207
208 mMp_.insert(mtp);
209 mMp_.insert(mRp);
210 }
211
219 void set_pMe(const double q)
220 {
222 pRe[0][0] = cos(q);
223 pRe[0][2] = pRe[1][0] = sin(q);
224 pRe[1][1] = pRe[2][2] = 0.;
225 pRe[2][1] = 1.;
226 pRe[1][2] = -pRe[0][0];
227
228 pMe_.insert(pRe);
229 }
231
232protected:
234 vpHomogeneousMatrix pMe_; // depends on q pan
235};
236
237#endif
void insert(const vpArray2D< Type > &A, unsigned int r, unsigned int c)
Definition vpArray2D.h:417
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Generic functions for Pioneer mobile robots equiped with a pan head.
void set_eJe(double q_pan)
void set_pMe(const double q)
vpHomogeneousMatrix mMp_
virtual ~vpPioneerPan()
vpHomogeneousMatrix pMe_
Implementation of a rotation matrix and operations on such kind of matrices.
Class that consider the case of a translation vector.
void set(double tx, double ty, double tz)
Generic functions for unicycle mobile robots.
Definition vpUnicycle.h:54
void set_eJe(const vpMatrix &eJe)
Definition vpUnicycle.h:120
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition vpUnicycle.h:110