Visual Servoing Platform version 3.6.0
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vpUnicycle.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 unicycle mobile robots.
33 *
34*****************************************************************************/
35#ifndef VPUNICYCLE_H
36#define VPUNICYCLE_H
37
38#include <visp3/core/vpHomogeneousMatrix.h>
39#include <visp3/core/vpTranslationVector.h>
40#include <visp3/core/vpVelocityTwistMatrix.h>
41
53class VISP_EXPORT vpUnicycle
54{
55public:
59 vpUnicycle() : cMe_(), eJe_(){};
63 virtual ~vpUnicycle(){};
64
71 vpHomogeneousMatrix get_cMe() const { return cMe_; }
72
80 {
82 cVe.buildFrom(cMe_);
83 return cVe;
84 }
85
94 void get_cVe(vpVelocityTwistMatrix &cVe) const { cVe = get_cVe(); }
95
104 vpMatrix get_eJe() const { return eJe_; }
105
110 void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
111
120 void set_eJe(const vpMatrix &eJe) { eJe_ = eJe; }
122
123protected:
124 vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
125 vpMatrix eJe_; // Robot jacobian
126};
127
128#endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Generic functions for unicycle mobile robots.
Definition vpUnicycle.h:54
vpMatrix get_eJe() const
Definition vpUnicycle.h:104
void set_eJe(const vpMatrix &eJe)
Definition vpUnicycle.h:120
vpMatrix eJe_
Definition vpUnicycle.h:125
virtual ~vpUnicycle()
Definition vpUnicycle.h:63
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition vpUnicycle.h:110
vpVelocityTwistMatrix get_cVe() const
Definition vpUnicycle.h:79
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition vpUnicycle.h:94
vpHomogeneousMatrix cMe_
Definition vpUnicycle.h:124
vpHomogeneousMatrix get_cMe() const
Definition vpUnicycle.h:71
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)