vpROSRobotPioneer.h
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2  *
3  * $Id: vpROSRobotPioneer.h 4574 2014-01-09 08:48:51Z fpasteau $
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20  * This software was developed at:
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31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Interface for Pioneer mobile robots based on ROS
36  *
37  * Authors:
38  * Francois Pasteau
39  *
40  *****************************************************************************/
41 #ifndef VPROSROBOTPIONEER_H
42 #define VPROSROBOTPIONEER_H
43 
44 #include <visp/vpConfig.h>
45 #include <visp/vpRobot.h>
46 #include <visp/vpRobotException.h>
47 #include <visp/vpPioneer.h>
48 
49 #include <visp_ros/vpROSRobot.h>
50 
64 class VISP_EXPORT vpROSRobotPioneer: public vpROSRobot, public vpPioneer
65 {
66  public:
69 
70  void disableMotors();
71  void enableMotors();
72 
84  void get_eJe(vpMatrix & eJe)
85  {
86  eJe = vpUnicycle::get_eJe();
87  }
88 
89  void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & velocity)
90  {
91  throw (vpRobotException(vpRobotException::notImplementedError, "getVelocity not implemented with ROS") );
92  }
93  vpColVector getVelocity (const vpRobot::vpControlFrameType frame)
94  {
95  throw (vpRobotException(vpRobotException::notImplementedError, "getVelocity not implemented with ROS") );
96  }
97 
99  void init() ;
100  void init(int argc, char **argv) ;
101 
102  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
103 
107  void useSonar(bool usage)
108  {
109  throw (vpRobotException(vpRobotException::notImplementedError, "useSonar not implemented with ROS") );
110  }
111 
112  private: /* Not allowed functions. */
113 
117  vpROSRobotPioneer(const vpROSRobotPioneer &robot);
118 
119  private: // Set as private since not implemented
124  void get_fJe(vpMatrix & /*fJe*/) {} ;
125 
130  void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector &/*q*/) {};
131 
132 };
133 
134 #endif // vpROSRobotPioneer_H
135 
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void get_fJe(vpMatrix &)
Interface for robots based on ROS.
Definition: vpROSRobot.h:62
vpRobot implementation for ROS middleware.
void setPosition(const vpRobot::vpControlFrameType, const vpColVector &)
void init()
basic initialization
Definition: vpROSRobot.cpp:112
void useSonar(bool usage)
void get_eJe(vpMatrix &eJe)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpROSRobot.cpp:144
Interface for Pioneer mobile robots based on ROS.
vpColVector getVelocity(const vpRobot::vpControlFrameType frame)


visp_ros
Author(s): Francois Pasteau, Fabien Spindler, Gatien Gaumerais
autogenerated on Fri Jul 3 2020 03:41:43