Visual Servoing Platform version 3.5.0
vpRobotPioneer.h
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Interface for Pioneer mobile robots based on Aria 3rd party library.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38#ifndef VPROBOTPIONEER_H
39#define VPROBOTPIONEER_H
40
41#include <visp3/core/vpConfig.h>
42
43#ifdef VISP_HAVE_PIONEER
44
45#include <Aria.h>
46
47// Warning: vpMath.h included from vpRobot.h or vpPioneer.h should be
48// included after Aria.h to avoid the build issue:
49// "/usr/include/Aria/ariaUtil.h:732:21: error: ‘isfinite’ was not declared
50// in this scope"
51// This error is due to cmath header included from vpMath.h that makes
52// isfinite() ambiguous between ::isfinite() and std::isfinite()
53#include <visp3/robot/vpPioneer.h>
54#include <visp3/robot/vpRobot.h>
55
69class VISP_EXPORT vpRobotPioneer : public vpRobot, public vpPioneer, public ArRobot
70{
71private: /* Not allowed functions. */
75 vpRobotPioneer(const vpRobotPioneer &robot);
76
77public:
79 virtual ~vpRobotPioneer();
80
93 void get_eJe(vpMatrix &eJe) { eJe = vpUnicycle::get_eJe(); }
94
95private: // Set as private since not implemented
100 void get_fJe(vpMatrix & /*fJe*/){};
101
106 void getDisplacement(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/){};
107
108public:
109 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
110 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
111
112private: // Set as private since not implemented
117 void getPosition(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/){};
118
119public:
120 void init();
121
122private: // Set as private since not implemented
127 void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector & /*q*/){};
128
129public:
130 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
131
135 void useSonar(bool usage) { this->comInt(ArCommands::SONAR, usage); }
136
137protected:
139};
140
141#endif
142
143#endif // VPROBOTPIONEER_H
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Generic functions for Pioneer mobile robots.
Definition: vpPioneer.h:92
Interface for Pioneer mobile robots based on Aria 3rd party library.
void useSonar(bool usage)
void get_eJe(vpMatrix &eJe)
Class that defines a generic virtual robot.
Definition: vpRobot.h:59
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
vpControlFrameType
Definition: vpRobot.h:75
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
vpMatrix get_eJe() const
Definition: vpUnicycle.h:107