#include <visp3/core/vpPoseVector.h>

Inheritance diagram for vpPoseVector:

Public Member Functions
	vpPoseVector ()

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

	vpPoseVector (const vpHomogeneousMatrix &M)

	vpPoseVector (const vpTranslationVector &tv, const vpThetaUVector &tu)

	vpPoseVector (const vpTranslationVector &tv, const vpRotationMatrix &R)

virtual	~vpPoseVector ()

vpPoseVector	buildFrom (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)

vpPoseVector	buildFrom (const vpHomogeneousMatrix &M)

vpPoseVector	buildFrom (const vpTranslationVector &tv, const vpThetaUVector &tu)

vpPoseVector	buildFrom (const vpTranslationVector &tv, const vpRotationMatrix &R)

void	extract (vpRotationMatrix &R) const

void	extract (vpThetaUVector &tu) const

void	extract (vpTranslationVector &tv) const

void	extract (vpQuaternionVector &q) const

vpRotationMatrix	getRotationMatrix () const

vpThetaUVector	getThetaUVector () const

vpTranslationVector	getTranslationVector () const

void	load (std::ifstream &f)

double &	operator[] (unsigned int i)

const double &	operator[] (unsigned int i) const

void	print () const

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)

void	save (std::ofstream &f) const

void	set (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)

vpRowVector	t () const

Deprecated functions
vp_deprecated void	init ()

Inherited functionalities from vpArray2D
double	getMinValue () const

double	getMaxValue () const

unsigned int	getRows () const

unsigned int	getCols () const

unsigned int	size () 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 pose vector and operations on poses.

The vpPose class implements a complete representation of every rigid motion in the euclidian space.

The vpPose class is derived from vpArray2D<double>.

The pose is composed of a translation and a rotation minimaly represented by a 6 dimension pose vector as:

$^{a}{\bf r}_b = [^{a}{\bf t}_{b},\theta {\bf u}]^\top \in R^6$

where $^{a}{\bf r}_b$ is the pose from frame $ a $ to frame $ b $ , with $^{a}{\bf t}_{b}$ being the translation vector between these frames along the x,y,z axis and $\theta \bf u$ , the axis-angle representation of the rotation $^{a}\bf{R}_{b}$ between these frames.

Translations are expressed in meters, while the angles in the $\theta {\bf u}$ axis-angle representation are expressed in radians.

To know more about the $\theta \bf u$ rotation representation, see vpThetaUVector documentation.

Examples:: servoMomentImage.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuThetaUCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFindMatch.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseHapticBox.cpp, and testVirtuosePeriodicFunction.cpp.

Definition at line 93 of file vpPoseVector.h.

Constructor & Destructor Documentation

vpPoseVector::vpPoseVector ( )

Default constructor that construct a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ where $\theta \bf u$ is a rotation vector $[\theta u_x, \theta u_y, \theta u_z]^\top$ and $\bf t$ is a translation vector $[t_x, t_y, t_z]^\top$ .

The pose vector is initialized to zero.

Definition at line 67 of file vpPoseVector.cpp.

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

Construct a 6 dimension pose vector $[\bf{t}, \theta \bf{u}]^\top$ from 3 translations and 3 $\theta \bf{u}$ angles.

Translations are expressed in meters, while rotations in radians.

Parameters

tx,ty,tz	: Translations $[t_x, t_y, t_z]^\top$ respectively along the x, y and z axis (in meters).
tux,tuy,tuz	: Rotations $[\theta u_x, \theta u_y, \theta u_z]^\top$ respectively around the x, y and z axis (in radians).

Definition at line 86 of file vpPoseVector.cpp.

vpPoseVector::vpPoseVector ( const vpHomogeneousMatrix & M )

Construct a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from an homogeneous matrix $\bf M$ .

Parameters

M	: Homogeneous matrix $\bf M$ from which translation $\bf t$ and $\theta \bf u$ vectors are extracted to initialize the pose vector.

Definition at line 149 of file vpPoseVector.cpp.

References buildFrom().

vpPoseVector::vpPoseVector	(	const vpTranslationVector &	tv,
		const vpThetaUVector &	tu
	)

Construct a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from a translation vector $\bf tv$ and a $\theta \bf u$ vector.

Parameters

tv	: Translation vector $\bf t$ .
tu	: $\theta \bf u$ rotation vector.

Definition at line 113 of file vpPoseVector.cpp.

References buildFrom().

vpPoseVector::vpPoseVector	(	const vpTranslationVector &	tv,
		const vpRotationMatrix &	R
	)

Construct a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from a translation vector $\bf t$ and a rotation matrix $\bf R$ .

Parameters

tv	: Translation vector $\bf t$ .
R	: Rotation matrix $\bf R$ from which $\theta \bf u$ vector is extracted to initialise the pose vector.

Definition at line 132 of file vpPoseVector.cpp.

References buildFrom().

virtual vpPoseVector::~vpPoseVector ( )

inlinevirtual

Destructor.

Definition at line 112 of file vpPoseVector.h.

Member Function Documentation

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

Build a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from 3 translations and 3 $\theta \bf{u}$ angles.

Translations are expressed in meters, while rotations in radians.

Parameters

tx,ty,tz	: Translations $[t_x, t_y, t_z]^\top$ respectively along the x, y and z axis (in meters).
tux,tuy,tuz	: Rotations $[\theta u_x, \theta u_y, \theta u_z]^\top$ respectively around the x, y and z axis (in radians).

Returns: The build pose vector.

See Also: set()

Examples:: servoMomentImage.cpp, testPoseFeatures.cpp, and testPoseVector.cpp.

Definition at line 200 of file vpPoseVector.cpp.

Referenced by buildFrom(), vpPtu46::computeMGD(), vpBiclops::computeMGD(), vpBiclops::get_fMc(), vpVirtuose::getAvatarPosition(), vpVirtuose::getBaseFrame(), vpVirtuose::getObservationFrame(), vpVirtuose::getPhysicalPosition(), vpVirtuose::getPosition(), vpMbTracker::savePose(), and vpPoseVector().

vpPoseVector vpPoseVector::buildFrom ( const vpHomogeneousMatrix & M )

Build a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from an homogeneous matrix $\bf M$ .

Parameters

M	: Homogeneous matrix $\bf M$ from which translation $\bf t$ and $\theta \bf u$ vectors are extracted to initialize the pose vector.

Returns: The build pose vector.

Definition at line 225 of file vpPoseVector.cpp.

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

vpPoseVector vpPoseVector::buildFrom	(	const vpTranslationVector &	tv,
		const vpThetaUVector &	tu
	)

Build a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from a translation vector $\bf t$ and a $\theta \bf u$ vector.

Parameters

tv	: Translation vector $\bf t$ .
tu	: $\theta \bf u$ rotation vector.

Returns: The build pose vector.

Definition at line 245 of file vpPoseVector.cpp.

vpPoseVector vpPoseVector::buildFrom	(	const vpTranslationVector &	tv,
		const vpRotationMatrix &	R
	)

Build a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from a translation vector $\bf t$ and a rotation matrix $\bf R$ .

Parameters

tv	: Translation vector $\bf t$ .
R	: Rotation matrix $\bf R$ from which $\theta \bf u$ vector is extracted to initialise the pose vector.

Returns: The build pose vector.

Definition at line 269 of file vpPoseVector.cpp.

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

void vpPoseVector::extract ( vpRotationMatrix & R ) const

Extract the rotation as a rotation matrix.

Examples:: testVirtuoseHapticBox.cpp.

Definition at line 313 of file vpPoseVector.cpp.

References vpRotationMatrix::buildFrom().

Referenced by vpVirtuose::setBaseFrame(), vpVirtuose::setObservationFrame(), and vpVirtuose::setPosition().

void vpPoseVector::extract ( vpThetaUVector & tu ) const

Extract the rotation as a $\theta \bf u$ vector.

Definition at line 294 of file vpPoseVector.cpp.

void vpPoseVector::extract ( vpTranslationVector & tv ) const

Extract the translation vector from the homogeneous matrix.

Definition at line 283 of file vpPoseVector.cpp.

void vpPoseVector::extract ( vpQuaternionVector & q ) const

Extract the rotation as a quaternion vector.

Definition at line 304 of file vpPoseVector.cpp.

References vpQuaternionVector::buildFrom().

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 vpRowVector::csvPrint(), vpMatrix::csvPrint(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), vpRowVector::maplePrint(), vpMatrix::maplePrint(), vpRowVector::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpRowVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::row(), 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.

vpRotationMatrix vpPoseVector::getRotationMatrix ( ) const

Return the rotation matrix that corresponds to the rotation part of the pose vector.

Definition at line 331 of file vpPoseVector.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::column(), vpColVector::cppPrint(), vpMatrix::cppPrint(), vpColVector::csvPrint(), vpMatrix::csvPrint(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), vpColVector::maplePrint(), vpMatrix::maplePrint(), vpColVector::matlabPrint(), vpMatrix::matlabPrint(), vpColVector::operator+(), vpColVector::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), print(), vpColVector::print(), vpMatrix::print(), and vpMatrix::pseudoInverse().

vpThetaUVector vpPoseVector::getThetaUVector ( ) const

Return the $\theta {\bf u}$ vector that corresponds to the rotation part of the pose vector.

Definition at line 341 of file vpPoseVector.cpp.

vpTranslationVector vpPoseVector::getTranslationVector ( ) const

Return the translation vector that corresponds to the translation part of the pose vector.

Definition at line 321 of file vpPoseVector.cpp.

vp_deprecated void vpPoseVector::init ( )

inline

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

Definition at line 215 of file vpPoseVector.h.

void vpPoseVector::load ( std::ifstream & f )

Read a pose vector from an input file stream.

Parameters

f	: The input file stream..Should be open before entering in this method.

Exceptions

vpException::ioError : If the input file stream is not open.

See Also: save()

Definition at line 411 of file vpPoseVector.cpp.

References vpException::ioError.

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 417 of file vpArray2D.h.

References vpArray2D< Type >::resize().

double& vpPoseVector::operator[] ( unsigned int i )

inline

Set the value of an element of the pose vector: r[i] = x.

Parameters

i	: Pose vector element index

// Create a pose vector with translation and rotation set to zero
vpPoseVector r;
// Initialize the pose vector
r[0] = 1;
r[1] = 2;
r[2] = 3;
r[3] = M_PI;
r[4] = -M_PI;
r[5] = 0;

This code produces the same effect:

vpPoseVector r(1, 2, 3, M_PI, -M_PI, 0);

Definition at line 161 of file vpPoseVector.h.

const double& vpPoseVector::operator[] ( unsigned int i ) const

inline

Get the value of an element of the pose vector: x = r[i].

Parameters

i	: Pose vector element index

vpPoseVector r(1, 2, 3, M_PI, -M_PI, 0);
double tx,ty,tz; // Translation
double tux, tuy,tuz; // Theta u rotation
tx  = r[0];
ty  = r[1];
tz  = r[2];
tux = r[3];
tuy = r[4];
tuz = r[5];

Definition at line 180 of file vpPoseVector.h.

void vpPoseVector::print ( ) const

Prints to the standart stream the pose vector.

Warning: Values concerning the $\theta {\bf u}$ rotation are converted in degrees.

The following code

// Create a pose vector
vpPoseVector r(1, 2, 3, M_PI, -M_PI, 0);
r.print();

produces the output:

1 2 3 180 -180 0

See Also: std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)

Definition at line 369 of file vpPoseVector.cpp.

References vpMath::deg().

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

Pretty print a pose vector. 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 vector 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 vector. Can be set to zero (or omitted), in which case the introduction is not printed.

Returns: Returns the common total width for all vector elements.

See Also: std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)

Definition at line 455 of file vpPoseVector.cpp.

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

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

inline

This function is not applicable to a pose vector that is always a 6-by-1 column vector.

Exceptions

vpException::fatalError When this function is called.

Definition at line 191 of file vpPoseVector.h.

References vpException::fatalError.

void vpPoseVector::save ( std::ofstream & f ) const

Save the pose vector in the output file stream.

Parameters

f	: Output file stream. Should be open before entering in this method.

Exceptions

vpException::ioError : If the output stream is not open.

See Also: load()

Definition at line 388 of file vpPoseVector.cpp.

References vpException::ioError.

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 499 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 588 of file vpArray2D.h.

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

void vpPoseVector::set	(	const double	tx,
		const double	ty,
		const double	tz,
		const double	tux,
		const double	tuy,
		const double	tuz
	)

Set the 6 dimension pose vector $[\bf{t}, \theta \bf{u}]^\top$ from 3 translations and 3 $\theta \bf{u}$ angles.

Translations are expressed in meters, while rotations in radians.

Parameters

tx,ty,tz	: Translations $[t_x, t_y, t_z]^\top$ respectively along the x, y and z axis (in meters).
tux,tuy,tuz	: Rotations $[\theta u_x, \theta u_y, \theta u_z]^\top$ respectively around the x, y and z axis (in radians).