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vpUnicycle.h
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/****************************************************************************
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*
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* $Id: vpUnicycle.h 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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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://www.irisa.fr/lagadic/visp/visp.html 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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* http://www.irisa.fr/lagadic
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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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*
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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 <visp/vpHomogeneousMatrix.h>
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#include <visp/vpTranslationVector.h>
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#include <visp/vpVelocityTwistMatrix.h>
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class
VISP_EXPORT
vpUnicycle
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{
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public
:
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vpUnicycle
()
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{
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};
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virtual
~vpUnicycle
() {};
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vpHomogeneousMatrix
get_cMe()
const
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{
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return
cMe_;
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}
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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
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{
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cVe =
vpUnicycle::get_cVe
();
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}
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vpMatrix
get_eJe()
const
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{
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return
eJe_;
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}
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void
set_cMe(
const
vpHomogeneousMatrix
&cMe)
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{
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cMe_ = cMe;
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}
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void
set_eJe(
const
vpMatrix
&eJe)
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{
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eJe_ = eJe;
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}
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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
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src
robot
real-robot
pioneer
vpUnicycle.h
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