vpVelocityTwistMatrix.h

/****************************************************************************
 *
 * $Id: vpVelocityTwistMatrix.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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:
 * Velocity twist transformation matrix.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpVelocityRwistMatrix_h
#define vpVelocityRwistMatrix_h

#include <visp/vpMatrix.h>
#include <visp/vpColVector.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRotationMatrix.h>


class VISP_EXPORT vpVelocityTwistMatrix : public vpMatrix
{
  friend class vpMatrix;

 public:
  // basic constructor
  vpVelocityTwistMatrix()   ;
  // copy constructor
  vpVelocityTwistMatrix(const vpVelocityTwistMatrix &V) ;
  // constructor from an homogeneous transformation
  vpVelocityTwistMatrix(const vpHomogeneousMatrix &M) ;

  // Construction from Translation and rotation (ThetaU parameterization)
  vpVelocityTwistMatrix(const vpTranslationVector &t, const vpThetaUVector &thetau) ;
  // Construction from Translation and rotation (matrix parameterization)
  vpVelocityTwistMatrix(const vpTranslationVector &t, const vpRotationMatrix &R) ;
  vpVelocityTwistMatrix(const double tx,   const double ty,   const double tz,
            const double tux,  const double tuy,  const double tuz) ;

  // Basic initialisation (identity)
  void init() ;

  vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t,
                  const vpRotationMatrix &R);
  vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t,
                  const vpThetaUVector &thetau);
  vpVelocityTwistMatrix buildFrom(const vpHomogeneousMatrix &M) ;

  // Basic initialisation (identity)
  void setIdentity() ;

  vpVelocityTwistMatrix operator*(const vpVelocityTwistMatrix &V) const ;
  vpMatrix operator*(const vpMatrix &M) const ;

  vpColVector operator*(const vpColVector &v) const ;

  // copy operator from vpMatrix (handle with care)
  vpVelocityTwistMatrix &operator=(const vpVelocityTwistMatrix &V);

  vpVelocityTwistMatrix inverse() const ;
  void inverse(vpVelocityTwistMatrix &Wi) const;

  void extract( vpRotationMatrix &R) const;
  void extract(vpTranslationVector &t) const;
} ;

#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */