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/vpPioneer.h>
46 #include <visp/vpRobot.h>
47 #include <visp/vpRobotException.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 ) { eJe = vpUnicycle::get_eJe(); }
85 
86  void getVelocity( const vpRobot::vpControlFrameType frame, vpColVector &velocity )
87  {
88  throw( vpRobotException( vpRobotException::notImplementedError, "getVelocity not implemented with ROS" ) );
89  }
90  vpColVector getVelocity( const vpRobot::vpControlFrameType frame )
91  {
92  throw( vpRobotException( vpRobotException::notImplementedError, "getVelocity not implemented with ROS" ) );
93  }
94 
96  void init();
97  void init( int argc, char **argv );
98 
99  void setVelocity( const vpRobot::vpControlFrameType frame, const vpColVector &vel );
100 
104  void useSonar( bool usage )
105  {
106  throw( vpRobotException( vpRobotException::notImplementedError, "useSonar not implemented with ROS" ) );
107  }
108 
109 private: /* Not allowed functions. */
113  vpROSRobotPioneer( const vpROSRobotPioneer &robot );
114 
115 private: // Set as private since not implemented
120  void get_fJe( vpMatrix & /*fJe*/ ){};
121 
126  void setPosition( const vpRobot::vpControlFrameType /*frame*/, const vpColVector & /*q*/ ){};
127 };
128 
129 #endif // vpROSRobotPioneer_H
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:113
void useSonar(bool usage)
void get_eJe(vpMatrix &eJe)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpROSRobot.cpp:149
Interface for Pioneer mobile robots based on ROS.
vpColVector getVelocity(const vpRobot::vpControlFrameType frame)


visp_ros
Author(s): Francois Pasteau, Fabien Spindler, Gatien Gaumerais, Alexander Oliva
autogenerated on Tue Mar 1 2022 00:03:22