#include <vpSimulatorPioneer.h>

Inheritance diagram for vpSimulatorPioneer:

Public Types
enum	vpRobotStateType { STATE_STOP , STATE_VELOCITY_CONTROL , STATE_POSITION_CONTROL , STATE_ACCELERATION_CONTROL , STATE_FORCE_TORQUE_CONTROL }
enum	vpControlFrameType { REFERENCE_FRAME , ARTICULAR_FRAME , JOINT_STATE = ARTICULAR_FRAME , END_EFFECTOR_FRAME , CAMERA_FRAME , TOOL_FRAME = CAMERA_FRAME , MIXT_FRAME }

Public Member Functions
	vpSimulatorPioneer ()
Inherited functionalities from vpRobotSimulator
double	getSamplingTime () const
virtual void	setSamplingTime (const double &delta_t)
Inherited functionalities from vpRobot
double	getMaxTranslationVelocity (void) const
double	getMaxRotationVelocity (void) const
int	getNDof () const
vpColVector	getPosition (const vpRobot::vpControlFrameType frame)
virtual vpRobotStateType	getRobotState (void) const
void	setMaxRotationVelocity (double maxVr)
void	setMaxTranslationVelocity (double maxVt)
virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)
void	setVerbose (bool verbose)

Static Public Member Functions
Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Protected Member Functions
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)
vpControlFrameType	getRobotFrame (void) const

Protected Attributes
vpHomogeneousMatrix	wMc_
vpHomogeneousMatrix	wMe_
double	xm_
double	ym_
double	theta_
double	delta_t_
double	maxTranslationVelocity
double	maxRotationVelocity
int	nDof
vpMatrix	eJe
int	eJeAvailable
vpMatrix	fJe
int	fJeAvailable
int	areJointLimitsAvailable
double *	qmin
double *	qmax
bool	verbose_

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2
static const double	maxRotationVelocityDefault = 0.7

Inherited functionalities from vpUnicycle
vpHomogeneousMatrix	cMe_
vpMatrix	eJe_
void	set_cMe (const vpHomogeneousMatrix &cMe)
void	set_eJe (const vpMatrix &eJe)
vpHomogeneousMatrix	get_cMe () const
vpVelocityTwistMatrix	get_cVe () const
void	get_cVe (vpVelocityTwistMatrix &cVe) const
vpMatrix	get_eJe () const

Inherited functionalities from vpSimulatorPioneer
void	get_eJe (vpMatrix &eJe) VP_OVERRIDE
void	getPosition (vpHomogeneousMatrix &wMc) const
void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE
void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE

Detailed Description

Class that defines the Pioneer mobile robot simulator equipped with a static camera.

It intends to simulate the mobile robot described in vpPioneer class. This robot has 2 dof: , the translational and rotational velocities that are applied at point E.

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.

The following code shows how to control this robot in position and velocity.

#include <visp3/robot/vpSimulatorPioneer.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpHomogeneousMatrix wMc;
  vpSimulatorPioneer 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(2); // we control vx and wz dof
  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;
}

Tutorials & Examples

Tutorials
If you are interested in simulating a Pioneer robot, you may have a look at:

Tutorial: Visual servo simulation on a pioneer-like unicycle robot

Examples: tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 107 of file vpSimulatorPioneer.h.

Member Enumeration Documentation

◆ vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.
JOINT_STATE	Corresponds to the joint state.
END_EFFECTOR_FRAME	Corresponds to robot end-effector frame.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME	Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 73 of file vpRobot.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.
STATE_FORCE_TORQUE_CONTROL	Initialize the force/torque controller.

Definition at line 61 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpSimulatorPioneer()

BEGIN_VISP_NAMESPACE vpSimulatorPioneer::vpSimulatorPioneer ( )

Constructor.

Definition at line 52 of file vpSimulatorPioneer.cpp.

References vpRobot::init(), theta_, wMc_, wMe_, xm_, and ym_.

Member Function Documentation

◆ get_cMe()

vpHomogeneousMatrix vpUnicycle::get_cMe ( ) const

inlineinherited

Return the transformation ${^c}{\bf M}_e$ between the camera frame and the mobile robot end effector frame.

Definition at line 65 of file vpUnicycle.h.

References cMe_.

◆ get_cVe() [1/2]

vpVelocityTwistMatrix vpUnicycle::get_cVe ( ) const

inlineinherited

Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 72 of file vpUnicycle.h.

References vpVelocityTwistMatrix::buildFrom(), and cMe_.

◆ get_cVe() [2/2]

void vpUnicycle::get_cVe ( vpVelocityTwistMatrix & cVe ) const

inlineinherited

Return the twist transformation from camera frame to the mobile robot end effector frame. This transformation allows to compute a velocity expressed in the end effector frame into the camera frame.

See also: get_cVe()

Definition at line 86 of file vpUnicycle.h.

References get_cVe().

Referenced by get_cVe().

◆ get_eJe() [1/2]

void vpSimulatorPioneer::get_eJe ( vpMatrix & _eJe )

virtual

Get the robot jacobian expressed in the end-effector frame. The jacobian expression is given in vpPioneer class.

Parameters

_eJe	: A 6 by 2 matrix representing the robot jacobian ${^e}{\bf J}_e$ expressed in the end-effector frame.

Implements vpRobot.

Definition at line 84 of file vpSimulatorPioneer.cpp.

References vpUnicycle::get_eJe().

◆ get_eJe() [2/2]

vpMatrix vpUnicycle::get_eJe ( ) const

inlineinherited

Return the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Returns: The robot jacobian such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimension velocity skew.

Examples: servoPioneerPanSegment3D.cpp.

Definition at line 96 of file vpUnicycle.h.

References eJe_.

Referenced by vpRobotPioneer::get_eJe(), vpSimulatorPioneer::get_eJe(), and vpSimulatorPioneerPan::get_eJe().

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 272 of file vpRobot.cpp.

References maxRotationVelocity.

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns: Maximum translational velocity expressed in m/s.

Definition at line 250 of file vpRobot.cpp.

References maxTranslationVelocity.

◆ getNDof()

int vpRobot::getNDof ( ) const

inlineinherited

Return robot degrees of freedom number.

Definition at line 142 of file vpRobot.h.

References nDof.

◆ getPosition() [1/3]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 215 of file vpRobot.cpp.

References getPosition().

◆ getPosition() [2/3]

void vpSimulatorPioneer::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	position )

virtual

Get the robot position (frame has to be specified).

Implements vpRobot.

Definition at line 176 of file vpSimulatorPioneer.cpp.

References vpRobot::ARTICULAR_FRAME, vpRxyzVector::buildFrom(), vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and wMc_.

◆ getPosition() [3/3]

void vpSimulatorPioneer::getPosition ( vpHomogeneousMatrix & wMc ) const

Get the robot position in the world frame.

Definition at line 155 of file vpSimulatorPioneer.cpp.

References wMc_.

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 180 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 152 of file vpRobot.h.

◆ getSamplingTime()

double vpRobotSimulator::getSamplingTime ( ) const

inlineinherited

Return the sampling time.

Returns: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Definition at line 73 of file vpRobotSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = false )

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns: Saturated velocities.

Exceptions

vpRobotException::dimensionError : If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
 
#include <visp3/robot/vpRobot.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
 
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
 
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
 
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
 
  return 0;
}

Definition at line 162 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpRobotAfma6::setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

◆ set_cMe()

void vpUnicycle::set_cMe ( const vpHomogeneousMatrix & cMe )

inlineinherited

Set the transformation between the camera frame and the end effector frame.

Definition at line 102 of file vpUnicycle.h.

References cMe_.

Referenced by vpPioneer::vpPioneer(), and vpPioneerPan::vpPioneerPan().

◆ set_eJe()

void vpUnicycle::set_eJe ( const vpMatrix & eJe )

inlineinherited

Set the robot jacobian ${^e}{\bf J}_e$ expressed in the end effector frame.

Parameters

eJe	: The robot jacobian to set such as ${\bf v} = {^e}{\bf J}_e \; \dot{\bf q}$ with $\dot{\bf q} = (v_x, w_z)$ the robot control velocities and $\bf v$ the six dimension velocity skew.

Definition at line 112 of file vpUnicycle.h.

References eJe_.

Referenced by vpPioneer::vpPioneer(), and vpPioneerPan::vpPioneerPan().

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max : Maximum rotational velocity expressed in rad/s.

Examples: servoMomentPoints.cpp.

Definition at line 259 of file vpRobot.cpp.

References maxRotationVelocity.

Referenced by init(), vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max : Maximum translation velocity expressed in m/s.

Examples: servoMomentPoints.cpp.

Definition at line 238 of file vpRobot.cpp.

References maxTranslationVelocity.

Referenced by init(), and vpSimulatorAfma6::setPosition().

◆ setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 206 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpSimulatorViper850::setVelocity().

◆ setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType newState )

virtualinherited

Reimplemented in vpRobotAfma6, vpRobotBiclops, vpRobotFlirPtu, vpRobotFranka, vpRobotPololuPtu, vpRobotPtu46, vpRobotUniversalRobots, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, and vpSimulatorViper850.

Definition at line 200 of file vpRobot.cpp.

◆ setSamplingTime()

virtual void vpRobotSimulator::setSamplingTime ( const double & delta_t )

inlinevirtualinherited

Set the sampling time.

Parameters

delta_t : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Reimplemented in vpRobotWireFrameSimulator.

Examples: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, photometricMappingVisualServoing.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 81 of file vpRobotSimulator.h.

◆ setVelocity()

void vpSimulatorPioneer::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	v )

virtual

Send to the controller a velocity.

Parameters

frame	: Control frame type. Only vpRobot::ARTICULAR_FRAME is implemented.
v	: Velocity vector $(v_x, \omega_z)$ to apply to the robot, where is the linear translational velocity in m/s and $\omega_z$ is the rotational velocity in rad/s around the vertical axis.

Depending on the velocity specified as input, the robot position is updated using the sampling time that can be modified using setSamplingTime().

See also: setSamplingTime()

Implements vpRobot.

Definition at line 103 of file vpSimulatorPioneer.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpUnicycle::cMe_, vpRobotSimulator::delta_t_, vpException::dimensionError, vpRobot::END_EFFECTOR_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpRobot::setRobotFrame(), vpRobot::setRobotState(), vpRobot::STATE_VELOCITY_CONTROL, theta_, vpERROR_TRACE, wMc_, wMe_, vpRobotException::wrongStateError, xm_, and ym_.

◆ setVerbose()

void vpRobot::setVerbose ( bool verbose )

inlineinherited

Definition at line 167 of file vpRobot.h.

References verbose_.

Referenced by vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 111 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

◆ cMe_

vpHomogeneousMatrix vpUnicycle::cMe_

protectedinherited

Definition at line 116 of file vpUnicycle.h.

Referenced by get_cMe(), get_cVe(), vpPioneerPan::set_cMe(), set_cMe(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpUnicycle().

◆ delta_t_

double vpRobotSimulator::delta_t_

protectedinherited

Definition at line 60 of file vpRobotSimulator.h.

Referenced by vpRobotWireFrameSimulator::setSamplingTime(), vpRobotCamera::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpRobotSimulator().

◆ eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 103 of file vpRobot.h.

Referenced by vpRobotAfma6::get_eJe(), vpRobotBiclops::get_eJe(), vpRobotCamera::get_eJe(), vpRobotFlirPtu::get_eJe(), vpRobotFlirPtu::get_eJe(), vpRobotKinova::get_eJe(), vpRobotPioneer::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotPtu46::get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpSimulatorCamera::get_eJe(), operator=(), vpRobot(), and vpRobot().

◆ eJe_

vpMatrix vpUnicycle::eJe_

protectedinherited

Definition at line 117 of file vpUnicycle.h.

Referenced by get_eJe(), vpPioneerPan::set_eJe(), set_eJe(), and vpUnicycle().

◆ eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 105 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

◆ fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

Referenced by vpRobotAfma6::get_fJe(), vpRobotBiclops::get_fJe(), vpRobotFlirPtu::get_fJe(), vpRobotFlirPtu::get_fJe(), vpRobotKinova::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotPtu46::get_fJe(), vpRobotViper650::get_fJe(), vpRobotViper850::get_fJe(), operator=(), vpRobot(), and vpRobot().

◆ fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 109 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 97 of file vpRobot.h.

Referenced by getMaxRotationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), operator=(), setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobot(), vpRobot(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 98 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot(), and vpRobot().

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 95 of file vpRobot.h.

Referenced by getMaxTranslationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), operator=(), setMaxTranslationVelocity(), vpRobot(), and vpRobot().

◆ maxTranslationVelocityDefault

BEGIN_VISP_NAMESPACE const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 96 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot(), and vpRobot().

◆ nDof

int vpRobot::nDof

protectedinherited

◆ qmax

double* vpRobot::qmax

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by operator=(), vpRobot(), vpRobot(), and ~vpRobot().

◆ qmin

double* vpRobot::qmin

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by operator=(), vpRobot(), vpRobot(), and ~vpRobot().

◆ theta_

double vpSimulatorPioneer::theta_

protected

Definition at line 120 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

◆ verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 115 of file vpRobot.h.

Referenced by vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), operator=(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), setVerbose(), vpRobotWireFrameSimulator::setVerbose(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobot(), vpRobot(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ wMc_

vpHomogeneousMatrix vpSimulatorPioneer::wMc_

protected

Definition at line 112 of file vpSimulatorPioneer.h.

Referenced by getPosition(), getPosition(), setVelocity(), and vpSimulatorPioneer().

◆ wMe_

vpHomogeneousMatrix vpSimulatorPioneer::wMe_

protected

Definition at line 115 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

◆ xm_

double vpSimulatorPioneer::xm_

protected

Definition at line 118 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

◆ ym_

double vpSimulatorPioneer::ym_

protected

Definition at line 119 of file vpSimulatorPioneer.h.

Referenced by setVelocity(), and vpSimulatorPioneer().

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Inherited functionalities from vpUnicycle

Inherited functionalities from vpSimulatorPioneer

Detailed Description

Tutorials & Examples

Member Enumeration Documentation

◆ vpControlFrameType

◆ vpRobotStateType

Constructor & Destructor Documentation

◆ vpSimulatorPioneer()

Member Function Documentation

◆ get_cMe()

◆ get_cVe() [1/2]

◆ get_cVe() [2/2]

◆ get_eJe() [1/2]

◆ get_eJe() [2/2]

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getNDof()

◆ getPosition() [1/3]

◆ getPosition() [2/3]

◆ getPosition() [3/3]

◆ getRobotFrame()

◆ getRobotState()

◆ getSamplingTime()

◆ saturateVelocities()

◆ set_cMe()

◆ set_eJe()

◆ setMaxRotationVelocity()

◆ setMaxTranslationVelocity()

◆ setRobotFrame()

◆ setRobotState()

◆ setSamplingTime()

◆ setVelocity()

◆ setVerbose()

Member Data Documentation

◆ areJointLimitsAvailable

◆ cMe_

◆ delta_t_

◆ eJe

◆ eJe_

◆ eJeAvailable

◆ fJe

◆ fJeAvailable

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

◆ maxTranslationVelocity

◆ maxTranslationVelocityDefault

◆ nDof

◆ qmax

◆ qmin

◆ theta_

◆ verbose_

◆ wMc_

◆ wMe_

◆ xm_

◆ ym_