#include <visp3/core/vpForceTwistMatrix.h>

Inheritance diagram for vpForceTwistMatrix:

Public Member Functions
	vpForceTwistMatrix ()

	vpForceTwistMatrix (const vpForceTwistMatrix &F)

	vpForceTwistMatrix (const vpHomogeneousMatrix &M)

	vpForceTwistMatrix (const vpTranslationVector &t, const vpThetaUVector &thetau)

	vpForceTwistMatrix (const vpTranslationVector &t, const vpRotationMatrix &R)

	vpForceTwistMatrix (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)

virtual	~vpForceTwistMatrix ()

vpForceTwistMatrix	buildFrom (const vpTranslationVector &t, const vpRotationMatrix &R)

vpForceTwistMatrix	buildFrom (const vpTranslationVector &t, const vpThetaUVector &thetau)

vpForceTwistMatrix	buildFrom (const vpHomogeneousMatrix &M)

void	eye ()

vpForceTwistMatrix	operator* (const vpForceTwistMatrix &F) const

vpMatrix	operator* (const vpMatrix &M) const

vpColVector	operator* (const vpColVector &H) const

vpForceTwistMatrix &	operator= (const vpForceTwistMatrix &H)

int	print (std::ostream &s, unsigned int length, char const *intro=0) const

void	resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)

Deprecated functions
vp_deprecated void	init ()

vp_deprecated void	setIdentity ()

Inherited functionalities from vpArray2D
double	getMinValue () const

double	getMaxValue () const

unsigned int	getRows () const

unsigned int	getCols () const

unsigned int	size () const

double *	operator[] (unsigned int i)

double *	operator[] (unsigned int i) const

Static Public Member Functions
Inherited I/O from vpArray2D with Static Public Member Functions
static bool	load (const std::string &filename, vpArray2D< double > &A, const bool binary=false, char *header=NULL)

static bool	loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=NULL)

static bool	save (const std::string &filename, const vpArray2D< double > &A, const bool binary=false, const char *header="")

static bool	saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")

Public Attributes
double *	data

Protected Attributes
unsigned int	rowNum

unsigned int	colNum

double **	rowPtrs

unsigned int	dsize

Related Functions
(Note that these are not member functions.)
enum	vpGEMMmethod

Detailed Description

Implementation of a force/torque twist matrix and operations on such kind of matrices.

Class that consider the particular case of twist transformation matrix that allows to transform a force/troque vector from one frame to an other.

The vpForceTwistMatrix class is derived from vpArray2D<double>.

The twist transformation matrix that allows to transform the force/torque vector expressed at frame ${\cal F}_b$ into the frame ${\cal F}_a$ is a 6 by 6 matrix defined as

$^a{\bf F}_b = \left[ \begin{array}{cc} ^a{\bf R}_b & {\bf 0}_{3\times 3}\\ {[^a{\bf t}_b]}_{\times} \; ^a{\bf R}_b & ^a{\bf R}_b \end{array} \right]$

$^a{\bf R}_b$ is a rotation matrix and $^a{\bf t}_b$ is a translation vector.

The code belows shows for example how to convert a force/torque skew from probe frame to a sensor frame.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpForceTwistMatrix.h>
int main()
{
  vpForceTwistMatrix sFp; // Twist transformation matrix from sensor to probe frame
  vpHomogeneousMatrix sMp; // Force/torque sensor frame to probe frame transformation
  // ... sMp need here to be initialized
  sFp.buildFrom(sMp); 
 
  vpColVector p_H(6); // Force/torque skew in the probe frame: fx,fy,fz,tx,ty,tz 
  // ... p_H should here have an initial value
  vpColVector s_H(6); // Force/torque skew in the sensor frame: fx,fy,fz,tx,ty,tz 
  // Compute the value of the force/torque in the sensor frame
  s_H = sFp * p_H;
}

Definition at line 102 of file vpForceTwistMatrix.h.

Constructor & Destructor Documentation

vpForceTwistMatrix::vpForceTwistMatrix ( )

Initialize a force/torque twist transformation matrix to identity.

Definition at line 93 of file vpForceTwistMatrix.cpp.

References eye().

vpForceTwistMatrix::vpForceTwistMatrix ( const vpForceTwistMatrix & F )

Initialize a force/torque twist transformation matrix from another force/torque twist matrix.

Parameters

F	: Force/torque twist matrix used as initializer.

Definition at line 106 of file vpForceTwistMatrix.cpp.

vpForceTwistMatrix::vpForceTwistMatrix ( const vpHomogeneousMatrix & M )

Initialize a force/torque twist transformation matrix from an homogeneous matrix. Given the homogeneous transformation

$^a{\bf M}_b = \left(\begin{array}{cc} ^a{\bf R}_b & ^a{\bf t}_b\\ 0 & 1 \end{array} \right)$

the force/torque twist matrix is given by :

$^a{\bf F}_b = \left[\begin{array}{cc} ^a{\bf R}_b & {\bf 0}_{3\times 3}\\ {[^a{\bf t}_b]}_{\times} \; ^a{\bf R}_b & ^a{\bf R}_b \end{array} \right]$

Parameters

M	: Homogeneous matrix $^a{\bf M}_b$ used to initialize the twist transformation matrix.

Definition at line 136 of file vpForceTwistMatrix.cpp.

References buildFrom().

vpForceTwistMatrix::vpForceTwistMatrix	(	const vpTranslationVector &	t,
		const vpThetaUVector &	thetau
	)

Initialize a force/torque twist transformation matrix from a translation vector t and a rotation vector with $\theta u$ parametrization.

Parameters

t	: Translation vector.
thetau	: $\theta u$ rotation vector.

Definition at line 152 of file vpForceTwistMatrix.cpp.

References buildFrom().

vpForceTwistMatrix::vpForceTwistMatrix	(	const vpTranslationVector &	t,
		const vpRotationMatrix &	R
	)

Initialize a force/torque twist transformation matrix from a translation vector t and a rotation matrix R.

Parameters

t	: Translation vector.
R	: Rotation matrix.

Definition at line 169 of file vpForceTwistMatrix.cpp.

References buildFrom().

vpForceTwistMatrix::vpForceTwistMatrix	(	const double	tx,
		const double	ty,
		const double	tz,
		const double	tux,
		const double	tuy,
		const double	tuz
	)

Initialize a force/torque twist transformation matrix from a translation vector ${\bf t}=(t_x, t_y, t_z)^T$ and a rotation vector with $\theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ parametrization.

Parameters

tx,ty,tz	: Translation vector in meters.
tux,tuy,tuz	: $\theta {\bf u}$ rotation vector expressed in radians.

Definition at line 185 of file vpForceTwistMatrix.cpp.

References buildFrom().

virtual vpForceTwistMatrix::~vpForceTwistMatrix ( )

inlinevirtual

Destructor.

Definition at line 121 of file vpForceTwistMatrix.h.

Member Function Documentation

vpForceTwistMatrix vpForceTwistMatrix::buildFrom	(	const vpTranslationVector &	t,
		const vpRotationMatrix &	R
	)

Build a force/torque twist transformation matrix from a translation vector t and a rotation matrix R.

Parameters

t	: Translation vector.
R	: Rotation matrix.

Definition at line 351 of file vpForceTwistMatrix.cpp.

References vpTranslationVector::skew().

Referenced by buildFrom(), and vpForceTwistMatrix().

vpForceTwistMatrix vpForceTwistMatrix::buildFrom	(	const vpTranslationVector &	tv,
		const vpThetaUVector &	thetau
	)

Initialize a force/torque twist transformation matrix from a translation vector t and a rotation vector with $\theta u$ parametrization.

Parameters

tv	: Translation vector.
thetau	: $\theta {\bf u}$ rotation vector.

Definition at line 378 of file vpForceTwistMatrix.cpp.

References vpRotationMatrix::buildFrom(), and buildFrom().

vpForceTwistMatrix vpForceTwistMatrix::buildFrom ( const vpHomogeneousMatrix & M )

Initialize a force/torque twist transformation matrix from an homogeneous matrix $M$ with

${\bf M} = \left[\begin{array}{cc} {\bf R} & {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]$

Parameters

M	: Homogeneous matrix used to initialize the force/torque twist transformation matrix.

Definition at line 399 of file vpForceTwistMatrix.cpp.

References buildFrom(), and vpHomogeneousMatrix::extract().

void vpForceTwistMatrix::eye ( )

Initialize the force/torque 6 by 6 twist matrix to identity.

Definition at line 78 of file vpForceTwistMatrix.cpp.

Referenced by setIdentity(), and vpForceTwistMatrix().

unsigned int vpArray2D< double >::getCols ( ) const

inlineinherited

Return the number of columns of the 2D array.

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, and testTranslationVector.cpp.

Definition at line 154 of file vpArray2D.h.

References vpArray2D< Type >::colNum.

Referenced by vpMatrix::csvPrint(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), vpMatrix::maplePrint(), vpRowVector::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), print(), vpVelocityTwistMatrix::print(), vpRowVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), and vpMatrix::svd().

double vpArray2D< double >::getMaxValue ( ) const

inherited

Return the array max value.

Examples:: servoMomentImage.cpp.

double vpArray2D< double >::getMinValue ( ) const

inherited

Return the array min value.

Examples:: servoMomentImage.cpp.

unsigned int vpArray2D< double >::getRows ( ) const

inlineinherited

Return the number of rows of the 2D array.

Examples:: testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, and testTranslationVector.cpp.

Definition at line 152 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpMatrix::cppPrint(), vpMatrix::csvPrint(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), vpMatrix::maplePrint(), vpMatrix::matlabPrint(), vpColVector::operator+(), vpColVector::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), print(), vpVelocityTwistMatrix::print(), vpPoseVector::print(), vpColVector::print(), vpMatrix::print(), and vpMatrix::pseudoInverse().

vp_deprecated void vpForceTwistMatrix::init ( )

inline

Deprecated:: Provided only for compat with previous releases. This function does nothing.

Definition at line 165 of file vpForceTwistMatrix.h.

static bool vpArray2D< double >::load	(	const std::string &	filename,
		vpArray2D< double > &	A,
		const bool	binary = `false`,
		char *	header = `NULL`
	)

inlinestaticinherited

Load a matrix from a file.

Parameters

filename	: Absolute file name.
A	: Array to be loaded
binary	: If true the matrix is loaded from a binary file, else from a text file.
header	: Header of the file is loaded in this parameter.

Returns: Returns true if success.

See also: save()

Definition at line 308 of file vpArray2D.h.

References vpException::badValue, and vpArray2D< Type >::resize().

static bool vpArray2D< double >::loadYAML	(	const std::string &	filename,
		vpArray2D< double > &	A,
		char *	header = `NULL`
	)

inlinestaticinherited

Load an array from a YAML-formatted file.

Parameters

filename	: absolute file name.
A	: array to be loaded from the file.
header	: header of the file is loaded in this parameter.

Returns: Returns true on success.

See also: saveYAML()

Definition at line 392 of file vpArray2D.h.

References vpArray2D< Type >::resize().

vpForceTwistMatrix vpForceTwistMatrix::operator* ( const vpForceTwistMatrix & F ) const

Operator that allows to multiply a skew transformation matrix by an other skew transformation matrix.

#include <visp3/core/vpForceTwistMatrix.h>
int main()
{
  vpForceTwistMatrix aFb, bFc;
  // ... initialize the force/torque twist transformations aFb and bFc
  // Compute the force/torque transformation from frame a to c
  vpForceTwistMatrix aFc = aFb * bFc;
}

Definition at line 224 of file vpForceTwistMatrix.cpp.

References vpArray2D< double >::rowPtrs, and vpArray2D< Type >::rowPtrs.

vpMatrix vpForceTwistMatrix::operator* ( const vpMatrix & M ) const

Operator that allows to multiply a skew transformation matrix by a matrix.

Exceptions

vpException::dimensionError If M is not a 6 rows dimension matrix.

Definition at line 246 of file vpForceTwistMatrix.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and vpArray2D< double >::rowPtrs.

vpColVector vpForceTwistMatrix::operator* ( const vpColVector & H ) const

Operator that allows to multiply a skew transformation matrix by a column vector.

Parameters

H	: Force/torque skew vector ${\bf H} = [f_x, f_y, f_z, \tau_x, \tau_y, \tau_z]$ .

For example, this operator can be used to convert a force/torque skew from sensor frame into the probe frame :

$^p{\bf H} = ^p{\bf F}_s \; ^s{\bf H}$

The example below shows how to handle that transformation.

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpRobotViper850.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpForceTwistMatrix.h>
int main()
{
  // Get the force/torque measures from the sensor
  vpColVector sH(6); // Force/torque measures given by the sensor
#ifdef VISP_HAVE_VIPER850
  vpRobotViper850 robot;
  robot.getForceTorque(sH); // Get the force/torque measures 
#endif  
  // Set the transformation from sensor frame to the probe frame
  vpHomogeneousMatrix pMs;
  pMs[2][3] = -0.262; // tz only
  // Set the force/torque twist transformation
  vpForceTwistMatrix pFs(pMs); // Twist transformation matrix from probe to sensor frame
  // Compute the resulting force/torque in the probe frame
  vpColVector pH(6); // Force/torque in the probe frame
  pH = pFs * sH;
 
  return 0;
}

Exceptions

vpException::dimensionError If $\bf H$ is not a 6 dimension vector.

Definition at line 318 of file vpForceTwistMatrix.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), and vpArray2D< double >::rowPtrs.

vpForceTwistMatrix & vpForceTwistMatrix::operator= ( const vpForceTwistMatrix & M )

Copy operator.

Parameters

M	: Force/torque twist matrix to copy.

Definition at line 62 of file vpForceTwistMatrix.cpp.

References vpArray2D< double >::rowPtrs, and vpArray2D< Type >::rowPtrs.

double * vpArray2D< double >::operator[] ( unsigned int i )

inlineinherited

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 259 of file vpArray2D.h.

double * vpArray2D< double >::operator[] ( unsigned int i ) const

inlineinherited

Get element $x = A_{ij}$ using x = A[i][j].

Definition at line 261 of file vpArray2D.h.

int vpForceTwistMatrix::print	(	std::ostream &	s,
		unsigned int	length,
		char const *	intro = `0`
	)		const

Pretty print a velocity twist matrix. The data are tabulated. The common widths before and after the decimal point are set with respect to the parameter maxlen.

Parameters

s	Stream used for the printing.
length	The suggested width of each matrix element. The actual width grows in order to accomodate the whole integral part, and shrinks if the whole extent is not needed for all the numbers.
intro	The introduction which is printed before the matrix. Can be set to zero (or omitted), in which case the introduction is not printed.

Returns: Returns the common total width for all matrix elements

See also: std::ostream &operator <<(ostream &s,const vpMatrix &m)

Definition at line 430 of file vpForceTwistMatrix.cpp.

References vpArray2D< double >::getCols(), vpArray2D< double >::getRows(), and vpMath::maximum().

void vpForceTwistMatrix::resize	(	const unsigned int	nrows,
		const unsigned int	ncols,
		const bool	flagNullify = `true`
	)

inline

This function is not applicable to a velocity twist matrix that is always a 6-by-6 matrix.

Exceptions

vpException::fatalError When this function is called.

Definition at line 147 of file vpForceTwistMatrix.h.

References vpException::fatalError.

static bool vpArray2D< double >::save	(	const std::string &	filename,
		const vpArray2D< double > &	A,
		const bool	binary = `false`,
		const char *	header = `""`
	)

inlinestaticinherited

Save a matrix to a file.

Parameters

filename	: Absolute file name.
A	: Array to be saved.
binary	: If true the matrix is saved in a binary file, else a text file.
header	: Optional line that will be saved at the beginning of the file.

Returns: Returns true if success.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

See also: load()

Definition at line 468 of file vpArray2D.h.

References vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

static bool vpArray2D< double >::saveYAML	(	const std::string &	filename,
		const vpArray2D< double > &	A,
		const char *	header = `""`
	)

inlinestaticinherited

Save an array in a YAML-formatted file.

Parameters

filename	: absolute file name.
A	: array to be saved in the file.
header	: optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.

Returns: Returns true if success.

Here is an example of outputs.

vpArray2D<double> M(3,4);
vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n    - a YAML-formatted header\n    - with inner indentation");

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
data:
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]

Content of matrixIndent.yml:

example:
    - a YAML-formatted header
    - with inner indentation
rows: 3
cols: 4
data:
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]

See also: loadYAML()

Definition at line 560 of file vpArray2D.h.

References vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

void vpForceTwistMatrix::setIdentity ( )

Deprecated:: You should rather use eye().

Set the twist transformation matrix to identity.

See also: eye()

Definition at line 199 of file vpForceTwistMatrix.cpp.

References eye().

unsigned int vpArray2D< double >::size ( ) const

inlineinherited

Return the number of elements of the 2D array.

Examples:: testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testPoseVector.cpp, testRowVector.cpp, testTranslationVector.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 156 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpRowVector::insert(), vpColVector::insert(), and vpColVector::operator*().

Friends And Related Function Documentation

enum vpGEMMmethod

Operations are :

VP_GEMM_A_T to use the transpose matrix of A instead of the matrix A
VP_GEMM_B_T to use the transpose matrix of B instead of the matrix B
VP_GEMM_C_T to use the transpose matrix of C instead of the matrix C

Definition at line 57 of file vpGEMM.h.

Member Data Documentation

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 76 of file vpArray2D.h.

double * vpArray2D< double >::data

inherited

Address of the first element of the data array.

Examples:: testDisplacement.cpp, testMatrix.cpp, testPoseVector.cpp, and testTranslationVector.cpp.

Definition at line 84 of file vpArray2D.h.

Referenced by vpMatrix::AtA(), vpHomogeneousMatrix::buildFrom(), vpRzyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpRxyzVector::buildFrom(), vpThetaUVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), vpTranslationVector::euclideanNorm(), vpRowVector::euclideanNorm(), vpColVector::euclideanNorm(), vpMatrix::euclideanNorm(), vpMatrix::expm(), vpThetaUVector::extract(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpTranslationVector::operator*(), vpRowVector::operator*(), vpColVector::operator*(), vpHomography::operator*(), vpTranslationVector::operator-(), vpRowVector::operator-(), vpColVector::operator-(), vpTranslationVector::operator/(), vpRowVector::operator/(), vpColVector::operator/(), vpHomography::operator/(), vpHomography::operator/=(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpRzyxVector::operator=(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpMatrix::operator=(), vpThetaUVector::operator=(), vpColVector::operator[](), vpRowVector::reshape(), vpColVector::reshape(), vpQuaternionVector::set(), vpMatrix::stackRows(), vpRotationVector::t(), vpTranslationVector::t(), vpPoseVector::t(), vpRowVector::t(), vpColVector::t(), vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), vpQuaternionVector::z(), vpSubColVector::~vpSubColVector(), vpSubMatrix::~vpSubMatrix(), and vpSubRowVector::~vpSubRowVector().

unsigned int vpArray2D< double >::dsize

protectedinherited

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 74 of file vpArray2D.h.

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 78 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation