Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
testTwistMatrix.cpp

Test some vpMatrix functionalities.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
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* For using ViSP with software that can not be combined with the GNU
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* Campus Universitaire de Beaulieu
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*
* Description:
* Tests some vpMatrix functionalities.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
int main()
{
try {
vpTRACE("--------------------------");
vpTRACE("--- TEST vpVelocityTwistMatrix ---");
vpTRACE("--------------------------");
// Set the translation
cte[0] = 1.;
cte[1] = 0.5;
cte[2] = -1.;
// Set the rotation
cre[0] = M_PI / 2.;
cre[1] = -M_PI / 2.;
cre[2] = -M_PI / 4.;
// Build rotation matrix
vpRotationMatrix cRe(cre);
// Build the twist matrix
vpVelocityTwistMatrix cVe(cte, cRe);
vpTRACE("cVe twist matrix:");
cVe.print(std::cout, 6);
// Set a speed skew
vpColVector ev(6);
ev[0] = 1.;
ev[1] = 0.1;
ev[2] = -0.5;
ev[3] = M_PI / 180.;
ev[4] = M_PI / 18.;
ev[5] = M_PI / 10.;
vpTRACE("ev colvector:");
ev.print(std::cout, 6);
// Set a speed skew
cv = cVe * ev;
vpTRACE("cv = cVe * ev:");
cv.print(std::cout, 6);
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}