ViSP  2.9.0
testTwistMatrix.cpp

Test some vpMatrix functionalities.

/****************************************************************************
*
* $Id: testTwistMatrix.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 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:
* Tests some vpMatrix functionalities.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpConfig.h>
#include <visp/vpDebug.h>
#include <stdlib.h>
#include <stdio.h>
#include <visp/vpMath.h>
#include <visp/vpMatrix.h>
#include <visp/vpColVector.h>
#include <visp/vpRxyzVector.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpRotationMatrix.h>
#include <visp/vpVelocityTwistMatrix.h>
#include <visp/vpParseArgv.h>
// List of allowed command line options
#define GETOPTARGS "h"
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Tests some vpMatrix functionalities.\n\
\n\
SYNOPSIS\n\
%s [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-h\n\
Print the help.\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
usage(argv[0], optarg_);
return false; break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int
main(int argc, const char ** argv)
{
try {
// Read the command line options
if (getOptions(argc, argv) == false) {
exit (-1);
}
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(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}