vpRobotPioneer.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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:
 * Interface for Pioneer mobile robots based on Aria 3rd party library.
 */
#ifndef VPROBOTPIONEER_H
#define VPROBOTPIONEER_H
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_PIONEER
 
#include <Aria.h>
 
// Warning: vpMath.h included from vpRobot.h or vpPioneer.h should be
// included after Aria.h to avoid the build issue:
// "/usr/include/Aria/ariaUtil.h:732:21: error: ‘isfinite’ was not declared
// in this scope"
// This error is due to cmath header included from vpMath.h that makes
// isfinite() ambiguous between ::isfinite() and std::isfinite()
#include <visp3/robot/vpPioneer.h>
#include <visp3/robot/vpRobot.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpRobotPioneer : public vpRobot, public vpPioneer, public ArRobot
{
private: /* Not allowed functions. */
  vpRobotPioneer(const vpRobotPioneer &robot);
 
public:
  vpRobotPioneer();
  virtual ~vpRobotPioneer() VP_OVERRIDE;

  void get_eJe(vpMatrix &eJe) VP_OVERRIDE { eJe = vpUnicycle::get_eJe(); }
 
private: // Set as private since not implemented
  void get_fJe(vpMatrix & /*fJe*/) VP_OVERRIDE { }

  void getDisplacement(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/) { }
 
public:
  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
 
private: // Set as private since not implemented
  void getPosition(const vpRobot::vpControlFrameType /*frame*/, vpColVector & /*q*/) { }
 
public:
  void init();
 
private: // Set as private since not implemented
  void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector & /*q*/) VP_OVERRIDE { }
 
public:
  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE;

  void useSonar(bool usage) { this->comInt(ArCommands::SONAR, usage); }
 
protected:
  bool isInitialized;
};
END_VISP_NAMESPACE
#endif
 
#endif // VPROBOTPIONEER_H