Visual Servoing Platform version 3.5.0
vpSimulatorPioneerPan.cpp
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21 * Campus Universitaire de Beaulieu
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30 *
31 * Description:
32 * Pioneer mobile robot equipped with a pan head simulator without display.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
45#include <visp3/core/vpDebug.h>
46#include <visp3/core/vpExponentialMap.h>
47#include <visp3/core/vpHomogeneousMatrix.h>
48#include <visp3/robot/vpRobotException.h>
49#include <visp3/robot/vpSimulatorPioneerPan.h>
50
60vpSimulatorPioneerPan::vpSimulatorPioneerPan() : wMc_(), wMm_(), xm_(0), ym_(0), theta_(0), q_pan_() { init(); }
61
72void vpSimulatorPioneerPan::init()
73{
74 xm_ = 0;
75 ym_ = 0;
76 theta_ = 0;
77 q_pan_ = 0;
78
79 nDof = 3;
80 eJeAvailable = true;
81 fJeAvailable = false;
83 qmin = NULL;
84 qmax = NULL;
85
86 wMc_ = wMm_ * mMp_ * pMe_ * cMe_.inverse();
87}
88
94
103
123{
124 switch (frame) {
128 }
129
130 setRobotFrame(frame);
131
132 // v is a 3 dimension vector that contains vx, wz, qpan
133 if (v.size() != 3) {
134 vpERROR_TRACE("Bad dimension of the control vector");
135 throw vpRobotException(vpRobotException::dimensionError, "Bad dimension of the control vector");
136 }
137
138 vpColVector v_max(3);
139
140 v_max[0] = getMaxTranslationVelocity();
141 v_max[1] = getMaxRotationVelocity();
142 v_max[2] = getMaxRotationVelocity();
143
144 vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
145
146 xm_ += delta_t_ * v_sat[0] * cos(theta_);
147 ym_ += delta_t_ * v_sat[0] * sin(theta_);
148 theta_ += delta_t_ * v_sat[1];
149 q_pan_ += delta_t_ * v_sat[2];
150
151 vpRotationMatrix wRm(0, 0, theta_);
152 vpTranslationVector wtm(xm_, ym_, 0);
153 wMm_.buildFrom(wtm, wRm);
154
155 // Update the end effector pose
157
158 // Update the camera pose
159 wMc_ = wMm_ * mMp_ * pMe_ * cMe_.inverse();
160
161 // Update the jacobian
163
164 break;
165 }
167 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the camera frame:"
168 "functionality not implemented");
170 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the reference frame:"
171 "functionality not implemented");
173 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the mixt frame:"
174 "functionality not implemented");
176 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the end-effector frame:"
177 "functionality not implemented");
178 }
179}
180
186
187/*
188 Get the current position of the robot.
189
190 \param frame : Control frame type in which to get the position, either :
191 - in the camera cartesien frame,
192 - joint (articular) coordinates of each axes (not implemented)
193 - in a reference or fixed cartesien frame attached to the robot base
194 - in a mixt cartesien frame (translation in reference frame, and rotation in
195 camera frame)
196
197 \param position : Measured position of the robot:
198 - in camera cartesien frame, a 6 dimension vector, set to 0.
199
200 - in articular, this functionality is not implemented.
201
202 - in reference frame, a 6 dimension vector, the first 3 values correspond to
203 the translation tx, ty, tz in meters (like a vpTranslationVector), and the
204 last 3 values to the rx, ry, rz rotation (like a vpRxyzVector).
205*/
207{
208 q.resize(6);
209
210 switch (frame) {
212 q = 0;
213 break;
214
216 std::cout << "ARTICULAR_FRAME is not implemented in "
217 "vpSimulatorPioneer::getPosition()"
218 << std::endl;
219 break;
221 // Convert wMc_ to a position
222 // From fMc extract the pose
224 this->wMc_.extract(wRc);
225 vpRxyzVector rxyz;
226 rxyz.buildFrom(wRc);
227
228 for (unsigned int i = 0; i < 3; i++) {
229 q[i] = this->wMc_[i][3]; // translation x,y,z
230 q[i + 3] = rxyz[i]; // Euler rotation x,y,z
231 }
232
233 break;
234 }
236 std::cout << "MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
237 break;
239 std::cout << "END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
240 break;
241 }
242}
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
@ dimensionError
Bad dimension.
Definition: vpException.h:95
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void extract(vpRotationMatrix &R) const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
void set_eJe(double q_pan)
Definition: vpPioneerPan.h:146
void set_pMe(const double q)
Definition: vpPioneerPan.h:222
vpHomogeneousMatrix mMp_
Definition: vpPioneerPan.h:236
vpHomogeneousMatrix pMe_
Definition: vpPioneerPan.h:237
Error that can be emited by the vpRobot class and its derivates.
int nDof
number of degrees of freedom
Definition: vpRobot.h:102
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:144
double * qmin
Definition: vpRobot.h:113
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition: vpRobot.cpp:163
vpControlFrameType
Definition: vpRobot.h:75
@ REFERENCE_FRAME
Definition: vpRobot.h:76
@ ARTICULAR_FRAME
Definition: vpRobot.h:78
@ MIXT_FRAME
Definition: vpRobot.h:86
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:81
double * qmax
Definition: vpRobot.h:114
int areJointLimitsAvailable
Definition: vpRobot.h:112
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:110
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
double getMaxRotationVelocity(void) const
Definition: vpRobot.cpp:273
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:106
double getMaxTranslationVelocity(void) const
Definition: vpRobot.cpp:251
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
Definition: vpRobot.cpp:207
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void getPosition(vpHomogeneousMatrix &wMc) const
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
vpHomogeneousMatrix wMm_
vpHomogeneousMatrix wMc_
robot / camera location in the world frame
Class that consider the case of a translation vector.
vpMatrix get_eJe() const
Definition: vpUnicycle.h:107
vpHomogeneousMatrix cMe_
Definition: vpUnicycle.h:127
#define vpERROR_TRACE
Definition: vpDebug.h:393