vpForceTwistMatrix.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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:
 * Twist transformation matrix that allows to transform forces from one 
 * frame to an other.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpForceTwistMatrix_h
#define vpForceTwistMatrix_h

#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>


class VISP_EXPORT vpForceTwistMatrix : public vpArray2D<double>
{
 public:
  // basic constructor
  vpForceTwistMatrix();
  // copy constructor
  vpForceTwistMatrix(const vpForceTwistMatrix &F) ;
  // constructor from an homogeneous transformation
  vpForceTwistMatrix(const vpHomogeneousMatrix &M) ;

  // Construction from Translation and rotation (ThetaU parameterization)
  vpForceTwistMatrix(const vpTranslationVector &t, const vpThetaUVector &thetau) ;
  // Construction from Translation and rotation (matrix parameterization)
  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) ;

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

  vpForceTwistMatrix operator*(const vpForceTwistMatrix &F) const ;
  vpMatrix operator*(const vpMatrix &M) const ;

  vpColVector operator*(const vpColVector &H) const ;

  // copy operator from vpMatrix (handle with care)
  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)
  {
    (void)nrows;
    (void)ncols;
    (void)flagNullify;
    throw(vpException(vpException::fatalError, "Cannot resize a velocity twist matrix"));
  };

#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

  vp_deprecated void init() {};
  vp_deprecated void setIdentity();
#endif
} ;

#endif