/usr/include/visp/vpSimulatorPioneerPan.h is in libvisp-dev 2.8.0-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 | /****************************************************************************
*
* $Id: vpSimulatorPioneerPan.h 2456 2010-01-07 10:33:12Z nmelchio $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Pioneer mobile robot equipped with a pan head simulator without display.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#ifndef vpSimulatorPioneerPan_H
#define vpSimulatorPioneerPan_H
/*!
\file vpSimulatorPioneerPan.h
\brief class that defines the Pioneer mobile robot simulator equipped
with a camera able to move in pan.
*/
#include <visp/vpColVector.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpMatrix.h>
#include <visp/vpPioneerPan.h>
#include <visp/vpRobot.h>
#include <visp/vpRobotSimulator.h>
/*!
\class vpSimulatorPioneerPan
\ingroup RobotSimuWithoutVisu
\brief Class that defines the Pioneer mobile robot simulator equipped
with a camera able to move in pan.
It intends to simulate the mobile robot described in vpPioneerPan class.
This robot has 3 dof: \f$(v_x, w_z, \dot{q_1})\f$, the translational and
rotational velocities of the mobile platform, the pan head velocity respectively.
The robot position evolves with respect to a world frame; wMc. When a new joint velocity
is applied to the robot using setVelocity(), the position of the camera wrt the world frame
is updated.
\image html pioneer-pan.png
The following code shows how to control this robot in position and velocity.
\code
#include <visp/vpSimulatorPioneerPan.h>
int main()
{
vpHomogeneousMatrix wMc;
vpSimulatorPioneerPan robot;
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "Default position of the camera in the world frame wMc:\n" << wMc << std::endl;
robot.setSamplingTime(0.100); // Modify the default sampling time to 0.1 second
robot.setMaxTranslationVelocity(1.); // vx max set to 1 m/s
robot.setMaxRotationVelocity(vpMath::rad(90)); // wz max set to 90 deg/s
vpColVector v(3); // we control vx, wz and q_pan
v = 0;
v[0] = 1.; // set vx to 1 m/s
robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
// The robot has moved from 0.1 meters along the z axis
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "New position of the camera wMc:\n" << wMc << std::endl;
}
\endcode
The usage of this class is also highlighted in \ref tutorial-simu-robot-pioneer.
*/
class VISP_EXPORT vpSimulatorPioneerPan : public vpPioneerPan, public vpRobotSimulator
{
protected:
//! robot / camera location in the world frame
vpHomogeneousMatrix wMc_ ; // world to camera
vpHomogeneousMatrix wMm_ ; // world to mobile robot frame located between the two weels
// mMp_ mobile robot to pan frame is a protected member of vpPioneerPan
// pMe_ pan head to end effector frame is a protected member of vpPioneerPan
// cMe_ is a protected member of vpUnicycle
double xm_;
double ym_;
double theta_;
double q_pan_;
public:
vpSimulatorPioneerPan() ;
virtual ~vpSimulatorPioneerPan();
public:
void get_eJe(vpMatrix &eJe);
void getPosition(vpHomogeneousMatrix &wMc) const;
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q);
void setVelocity(const vpRobot::vpControlFrameType frame,
const vpColVector &vel) ;
private:
void init() ;
// Non implemented virtual pure functions
void get_fJe(vpMatrix & /*_fJe */) {};
void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) {};
void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) {};
} ;
#endif
|