vpPoseVector.cpp

/****************************************************************************
 *
 * 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:
 * Pose object. A pose is a size 6 vector [t, tu]^T where tu is
 * a rotation vector (theta u representation) and t is a translation vector.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#include <sstream>
#include <assert.h>

#include <visp3/core/vpPoseVector.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpMatrixException.h>
#include <visp3/core/vpException.h>


vpPoseVector::vpPoseVector()
  : vpArray2D<double>(6, 1)
{}

vpPoseVector::vpPoseVector(const double tx,
                           const double ty,
                           const double tz,
                           const double tux,
                           const double tuy,
                           const double tuz)
  : vpArray2D<double>(6, 1)
{
  (*this)[0] = tx;
  (*this)[1] = ty;
  (*this)[2] = tz;

  (*this)[3] = tux;
  (*this)[4] = tuy;
  (*this)[5] = tuz;
}

vpPoseVector::vpPoseVector(const vpTranslationVector& tv,
                           const vpThetaUVector& tu)
  : vpArray2D<double>(6, 1)
{
  buildFrom(tv, tu) ;
}

vpPoseVector::vpPoseVector(const vpTranslationVector& tv,
                           const vpRotationMatrix& R)
  : vpArray2D<double>(6, 1)
{
  buildFrom(tv, R) ;
}

vpPoseVector::vpPoseVector(const vpHomogeneousMatrix& M)
  : vpArray2D<double>(6, 1)
{
  buildFrom(M) ;
}

void
vpPoseVector::set(const double tx, const double ty, const double tz,
                  const double tux, const double tuy, const double tuz)
{
  (*this)[0] = tx;
  (*this)[1] = ty;
  (*this)[2] = tz;

  (*this)[3] = tux;
  (*this)[4] = tuy;
  (*this)[5] = tuz;
}

vpPoseVector
vpPoseVector::buildFrom(const double tx, const double ty, const double tz,
                        const double tux, const double tuy, const double tuz)
{
  (*this)[0] = tx;
  (*this)[1] = ty;
  (*this)[2] = tz;

  (*this)[3] = tux;
  (*this)[4] = tuy;
  (*this)[5] = tuz;
  return *this ;
}

vpPoseVector
vpPoseVector::buildFrom(const vpHomogeneousMatrix& M)
{
  vpRotationMatrix R ;     M.extract(R) ;
  vpTranslationVector tv ; M.extract(tv) ;
  buildFrom(tv,R) ;
  return *this ;
}

vpPoseVector
vpPoseVector::buildFrom(const vpTranslationVector& tv,
                        const vpThetaUVector& tu)
{
  for (unsigned int i =0  ; i < 3 ; i++) {
    (*this)[i]   = tv[i] ;
    (*this)[i+3] = tu[i] ;
  }
  return *this ;
}

vpPoseVector
vpPoseVector::buildFrom(const vpTranslationVector& tv,
                        const vpRotationMatrix& R)
{
  vpThetaUVector tu ;
  tu.buildFrom(R) ;

  buildFrom(tv, tu) ;
  return *this ;
}

void
vpPoseVector::extract(vpTranslationVector &tv) const
{
  tv[0] = (*this)[0];
  tv[1] = (*this)[1];
  tv[2] = (*this)[2];
}

void
vpPoseVector::extract(vpThetaUVector &tu) const
{
  tu[0] = (*this)[3];
  tu[1] = (*this)[4];
  tu[2] = (*this)[5];
}
void
vpPoseVector::extract(vpQuaternionVector &q) const
{
  vpRotationMatrix R((*this)[3], (*this)[4], (*this)[5]);
  q.buildFrom(R);
}
void
vpPoseVector::extract(vpRotationMatrix &R) const
{
  R.buildFrom((*this)[3], (*this)[4], (*this)[5]);
}
vpTranslationVector vpPoseVector::getTranslationVector() const
{
  vpTranslationVector tr((*this)[0], (*this)[1], (*this)[2]);
  return tr;
}

vpRotationMatrix vpPoseVector::getRotationMatrix() const
{
  vpRotationMatrix R((*this)[0], (*this)[1], (*this)[2]);
  return R;
}

vpThetaUVector vpPoseVector::getThetaUVector() const
{
  vpThetaUVector tu((*this)[3], (*this)[4], (*this)[5]);
  return tu;
}

void
vpPoseVector::print() const
{
  for (unsigned int i =0  ; i < 6 ; i++)
    if (i<3) std::cout << (*this)[i] <<" " ;
    else  std::cout << vpMath::deg((*this)[i]) <<" " ;
  std::cout <<std::endl ;
}

void
vpPoseVector::save(std::ofstream &f) const
{
  if (! f.fail()) {
    f << *this ;
  }
  else {
    throw(vpException(vpException::ioError,
                      "Cannot save the pose vector: ofstream not openned")) ;
  }
}


void
vpPoseVector::load(std::ifstream &f)
{
  if (! f.fail()) {
    for (unsigned int i=0 ; i < 6 ; i++) {
      f >> (*this)[i] ;
    }
  }
  else {
    throw(vpException(vpException::ioError,
                      "Cannot read pose vector: ifstream not openned")) ;
  }
}

/*
  Transpose the pose vector. The resulting vector becomes a row vector.

*/
vpRowVector vpPoseVector::t() const
{
  vpRowVector v(rowNum);
  memcpy(v.data, data, rowNum*sizeof(double)) ;
  return v;
}

int
vpPoseVector::print(std::ostream& s, unsigned int length, char const* intro) const
{
  typedef std::string::size_type size_type;

  unsigned int m = getRows();
  unsigned int n = 1;

  std::vector<std::string> values(m*n);
  std::ostringstream oss;
  std::ostringstream ossFixed;
  std::ios_base::fmtflags original_flags = oss.flags();

  // ossFixed <<std::fixed;
  ossFixed.setf ( std::ios::fixed, std::ios::floatfield );

  size_type maxBefore=0;  // the length of the integral part
  size_type maxAfter=0;   // number of decimals plus
  // one place for the decimal point
  for (unsigned int i=0;i<m;++i) {
    oss.str("");
    oss << (*this)[i];
    if (oss.str().find("e")!=std::string::npos){
      ossFixed.str("");
      ossFixed << (*this)[i];
      oss.str(ossFixed.str());
    }

    values[i]=oss.str();
    size_type thislen=values[i].size();
    size_type p=values[i].find('.');

    if (p==std::string::npos){
      maxBefore=vpMath::maximum(maxBefore, thislen);
      // maxAfter remains the same
    } else{
      maxBefore=vpMath::maximum(maxBefore, p);
      maxAfter=vpMath::maximum(maxAfter, thislen-p-1);
    }

  }

  size_type totalLength=length;
  // increase totalLength according to maxBefore
  totalLength=vpMath::maximum(totalLength,maxBefore);
  // decrease maxAfter according to totalLength
  maxAfter=std::min(maxAfter, totalLength-maxBefore);
  if (maxAfter==1) maxAfter=0;

  // the following line is useful for debugging
  //std::cerr <<totalLength <<" " <<maxBefore <<" " <<maxAfter <<"\n";

  if (intro) s <<intro;
  s <<"["<<m<<","<<n<<"]=\n";

  for (unsigned int i=0;i<m;i++) {
    s <<"  ";
    size_type p=values[i].find('.');
    s.setf(std::ios::right, std::ios::adjustfield);
    s.width((std::streamsize)maxBefore);
    s <<values[i].substr(0,p).c_str();

    if (maxAfter>0){
      s.setf(std::ios::left, std::ios::adjustfield);
      if (p!=std::string::npos){
        s.width((std::streamsize)maxAfter);
        s <<values[i].substr(p,maxAfter).c_str();
      } else{
        assert(maxAfter>1);
        s.width((std::streamsize)maxAfter);
        s <<".0";
      }
    }

    s <<' ';

    s <<std::endl;
  }

  s.flags(original_flags); // restore s to standard state

  return (int)(maxBefore+maxAfter);
}