Visual Servoing Platform version 3.6.0
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vpRobotPioneer.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
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 * Interface for Pioneer mobile robots based on Aria 3rd party library.
33 *
34*****************************************************************************/
35#ifndef VPROBOTPIONEER_H
36#define VPROBOTPIONEER_H
37
38#include <visp3/core/vpConfig.h>
39
40#ifdef VISP_HAVE_PIONEER
41
42#include <Aria.h>
43
44// Warning: vpMath.h included from vpRobot.h or vpPioneer.h should be
45// included after Aria.h to avoid the build issue:
46// "/usr/include/Aria/ariaUtil.h:732:21: error: ‘isfinite’ was not declared
47// in this scope"
48// This error is due to cmath header included from vpMath.h that makes
49// isfinite() ambiguous between ::isfinite() and std::isfinite()
50#include <visp3/robot/vpPioneer.h>
51#include <visp3/robot/vpRobot.h>
52
66class VISP_EXPORT vpRobotPioneer : public vpRobot, public vpPioneer, public ArRobot
67{
68private: /* Not allowed functions. */
72 vpRobotPioneer(const vpRobotPioneer &robot);
73
74public:
76 virtual ~vpRobotPioneer();
77
90 void get_eJe(vpMatrix &eJe) { eJe = vpUnicycle::get_eJe(); }
91
92private: // Set as private since not implemented
97 void get_fJe(vpMatrix & /*fJe*/){};
98
103 void getDisplacement(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/){};
104
105public:
106 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
107 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
108
109private: // Set as private since not implemented
114 void getPosition(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/){};
115
116public:
117 void init();
118
119private: // Set as private since not implemented
124 void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector & /*q*/){};
125
126public:
127 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
128
132 void useSonar(bool usage) { this->comInt(ArCommands::SONAR, usage); }
133
134protected:
136};
137
138#endif
139
140#endif // VPROBOTPIONEER_H
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Generic functions for Pioneer mobile robots.
Definition vpPioneer.h:89
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:57
vpControlFrameType
Definition vpRobot.h:73
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
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:104