Visual Servoing Platform version 3.5.0
vpUnicycle.h
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3 * ViSP, open source Visual Servoing Platform software.
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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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 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38#ifndef VPUNICYCLE_H
39#define VPUNICYCLE_H
40
41#include <visp3/core/vpHomogeneousMatrix.h>
42#include <visp3/core/vpTranslationVector.h>
43#include <visp3/core/vpVelocityTwistMatrix.h>
44
56class VISP_EXPORT vpUnicycle
57{
58public:
62 vpUnicycle() : cMe_(), eJe_(){};
66 virtual ~vpUnicycle(){};
67
74 vpHomogeneousMatrix get_cMe() const { return cMe_; }
75
83 {
85 cVe.buildFrom(cMe_);
86 return cVe;
87 }
88
97 void get_cVe(vpVelocityTwistMatrix &cVe) const { cVe = get_cVe(); }
98
107 vpMatrix get_eJe() const { return eJe_; }
108
113 void set_cMe(const vpHomogeneousMatrix &cMe) { cMe_ = cMe; }
114
123 void set_eJe(const vpMatrix &eJe) { eJe_ = eJe; }
125
126protected:
127 vpHomogeneousMatrix cMe_; // Camera frame to mobile platform frame
128 vpMatrix eJe_; // Robot jacobian
129};
130
131#endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Generic functions for unicycle mobile robots.
Definition: vpUnicycle.h:57
vpMatrix get_eJe() const
Definition: vpUnicycle.h:107
void set_eJe(const vpMatrix &eJe)
Definition: vpUnicycle.h:123
vpMatrix eJe_
Definition: vpUnicycle.h:128
virtual ~vpUnicycle()
Definition: vpUnicycle.h:66
void set_cMe(const vpHomogeneousMatrix &cMe)
Definition: vpUnicycle.h:113
vpVelocityTwistMatrix get_cVe() const
Definition: vpUnicycle.h:82
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpUnicycle.h:97
vpHomogeneousMatrix cMe_
Definition: vpUnicycle.h:127
vpHomogeneousMatrix get_cMe() const
Definition: vpUnicycle.h:74
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)