#include <visp3/core/vpVelocityTwistMatrix.h>

Inheritance diagram for vpVelocityTwistMatrix:

Public Member Functions
	vpVelocityTwistMatrix ()

	vpVelocityTwistMatrix (const vpVelocityTwistMatrix &V)

	vpVelocityTwistMatrix (const vpHomogeneousMatrix &M, bool full=true)

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

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

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

	vpVelocityTwistMatrix (const vpRotationMatrix &R)

	vpVelocityTwistMatrix (const vpThetaUVector &thetau)

virtual	~vpVelocityTwistMatrix ()

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

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

vpVelocityTwistMatrix	buildFrom (const vpHomogeneousMatrix &M, bool full=true)

vpVelocityTwistMatrix	buildFrom (const vpRotationMatrix &R)

vpVelocityTwistMatrix	buildFrom (const vpThetaUVector &thetau)

void	extract (vpRotationMatrix &R) const

void	extract (vpTranslationVector &t) const

void	eye ()

vpVelocityTwistMatrix	inverse () const

void	inverse (vpVelocityTwistMatrix &V) const

vpVelocityTwistMatrix	operator* (const vpVelocityTwistMatrix &V) const

vpMatrix	operator* (const vpMatrix &M) const

vpColVector	operator* (const vpColVector &v) const

vpVelocityTwistMatrix &	operator= (const vpVelocityTwistMatrix &V)

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
unsigned int	getCols () const

double	getMaxValue () const

double	getMinValue () const

unsigned int	getRows () const

unsigned int	size () const

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

double *	operator[] (unsigned int i)

double *	operator[] (unsigned int i) const

vpArray2D< double >	hadamard (const vpArray2D< double > &m) 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

Friends
class	vpMatrix

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

Detailed Description

This class derived from vpArray2D<double> implements the 6 by 6 matrix which transforms velocities from one frame to another. This matrix is also called velocity twist transformation matrix.

The full velocity twist transformation matrix allows to compute the velocity at point a expressed in frame a knowing its velocity at point b expressed in frame b. This matrix is defined as:

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

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

When the point where the velocity is expressed doesn't change, the matrix becomes block diagonal. It allows than to compute the velocity at point b expressed in frame a knowing its velocity at point b expressed in frame b :

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

The code below shows how to convert a velocity skew expressed at the origin of the camera frame into the origin of the fix frame using the full velocity twist matrix.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
int main()
{
  vpVelocityTwistMatrix fVc; // Twist transformation matrix from fix to camera
frame
  vpHomogeneousMatrix fMc; // Fix to camera frame transformation
  // ... fMc need here to be initialized
  fVc.buildFrom(fMc);
  vpColVector c_v(6); // Velocity in the camera frame: vx,vy,vz,wx,wy,wz
  // ... c_v should here have an initial value
  vpColVector f_v(6); // Velocity in the fix frame: vx,vy,vz,wx,wy,wz
  // Compute the velocity in the fix frame
  f_v = fVc * c_v;
}

Examples:: manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuSphere.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testMatrix.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testTwistMatrix.cpp, testVirtuoseAfma6.cpp, testVirtuoseHapticBox.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 114 of file vpVelocityTwistMatrix.h.

Constructor & Destructor Documentation

vpVelocityTwistMatrix::vpVelocityTwistMatrix ( )

Initialize a velocity twist transformation matrix as identity.

Definition at line 85 of file vpVelocityTwistMatrix.cpp.

References eye().

vpVelocityTwistMatrix::vpVelocityTwistMatrix ( const vpVelocityTwistMatrix & V )

Initialize a velocity twist transformation matrix from another velocity twist matrix.

Parameters

V	: Velocity twist matrix used as initializer.

Definition at line 93 of file vpVelocityTwistMatrix.cpp.

vpVelocityTwistMatrix::vpVelocityTwistMatrix	(	const vpHomogeneousMatrix &	M,
		bool	full = `true`
	)

explicit

Initialize a velocity 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 $\bf M$ used to initialize the velocity twist transformation matrix.

full

: Boolean used to indicate which matrix should be filled.

When set to true, use the complete velocity skew transformation :
${\bf V} = \left[\begin{array}{cc} {\bf R} & [{\bf t}]_\times \; {\bf R} \\ {\bf 0}_{3\times 3} & {\bf R} \end{array} \right]$
When set to false, use the block diagonal velocity skew transformation:
${\bf V} = \left[\begin{array}{cc} {\bf R} & {\bf 0}_{3\times 3} \\ {\bf 0}_{3\times 3} & {\bf R} \end{array} \right]$

Definition at line 113 of file vpVelocityTwistMatrix.cpp.

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

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

Initialize a velocity twist transformation matrix from a translation vector t and a rotation matrix R.

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

Parameters

t	: Translation vector.
R	: Rotation matrix.

Definition at line 171 of file vpVelocityTwistMatrix.cpp.

References buildFrom().

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

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

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

Parameters

t	: Translation vector.
thetau	: $\theta u$ rotation vector used to initialize rotation vector .

Definition at line 135 of file vpVelocityTwistMatrix.cpp.

References buildFrom().

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

Initialize a velocity 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.

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

Parameters

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

Definition at line 205 of file vpVelocityTwistMatrix.cpp.

References buildFrom().

vpVelocityTwistMatrix::vpVelocityTwistMatrix ( const vpRotationMatrix & R )

Initialize a velocity twist transformation matrix from a rotation matrix R.

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

Parameters

R	: Rotation matrix.

Definition at line 188 of file vpVelocityTwistMatrix.cpp.

References buildFrom().

vpVelocityTwistMatrix::vpVelocityTwistMatrix ( const vpThetaUVector & thetau )

Initialize a velocity twist transformation matrix from a rotation vector with $\theta u$ parametrization.

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

Parameters

thetau : $\theta u$ rotation vector used to initialize rotation vector .

Definition at line 153 of file vpVelocityTwistMatrix.cpp.

References buildFrom().

virtual vpVelocityTwistMatrix::~vpVelocityTwistMatrix ( )

inlinevirtual

Destructor.

Definition at line 139 of file vpVelocityTwistMatrix.h.

References vpMatrix::extract(), vpMatrix::eye(), vpMatrix::operator*(), vpArray2D< Type >::operator=(), vpMatrix::print(), and vpMatrix::t().

Member Function Documentation

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

Build a velocity twist transformation matrix from a translation vector t and a rotation matrix R.

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

Parameters

t	: Translation vector.
R	: Rotation matrix.

Definition at line 365 of file vpVelocityTwistMatrix.cpp.

References vpTranslationVector::skew().

vpVelocityTwistMatrix vpVelocityTwistMatrix::buildFrom	(	const vpTranslationVector &	t,
		const vpThetaUVector &	thetau
	)

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

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

Parameters

t	: Translation vector.
thetau	: $\theta {\bf u}$ rotation vector used to create rotation matrix ${\bf R}$ .

Definition at line 395 of file vpVelocityTwistMatrix.cpp.

References buildFrom().

vpVelocityTwistMatrix vpVelocityTwistMatrix::buildFrom	(	const vpHomogeneousMatrix &	M,
		bool	full = `true`
	)

Initialize a velocity 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 velocity twist transformation matrix.

full

: Boolean used to indicate which matrix should be filled.

When set to true, use the complete velocity skew transformation :
${\bf V} = \left[\begin{array}{cc} {\bf R} & [{\bf t}]_\times \; {\bf R} \\ {\bf 0}_{3\times 3} & {\bf R} \end{array} \right]$
When set to false, use the block diagonal velocity skew transformation:
${\bf V} = \left[\begin{array}{cc} {\bf R} & {\bf 0}_{3\times 3} \\ {\bf 0}_{3\times 3} & {\bf R} \end{array} \right]$

Definition at line 437 of file vpVelocityTwistMatrix.cpp.

References buildFrom(), vpHomogeneousMatrix::getRotationMatrix(), and vpHomogeneousMatrix::getTranslationVector().

vpVelocityTwistMatrix vpVelocityTwistMatrix::buildFrom ( const vpRotationMatrix & R )

Build a velocity twist transformation block diagonal matrix from a rotation matrix R.

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

Parameters

R	: Rotation matrix.

Definition at line 339 of file vpVelocityTwistMatrix.cpp.

vpVelocityTwistMatrix vpVelocityTwistMatrix::buildFrom ( const vpThetaUVector & thetau )

Initialize a velocity twist transformation matrix from a rotation vector with $\theta u$ parametrization.

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

Parameters

thetau : $\theta {\bf u}$ rotation vector used to create rotation matrix ${\bf R}$ .

Definition at line 413 of file vpVelocityTwistMatrix.cpp.

References buildFrom().

void vpVelocityTwistMatrix::extract ( vpRotationMatrix & R ) const

Extract the rotation matrix from the velocity twist matrix.

Definition at line 467 of file vpVelocityTwistMatrix.cpp.

Referenced by extract(), and inverse().

void vpVelocityTwistMatrix::extract ( vpTranslationVector & t ) const

Extract the translation vector from the velocity twist matrix.

Definition at line 475 of file vpVelocityTwistMatrix.cpp.

References extract(), and vpRotationMatrix::t().

void vpVelocityTwistMatrix::eye ( )

Initialize a 6x6 velocity twist matrix as identity.

Definition at line 72 of file vpVelocityTwistMatrix.cpp.

Referenced by setIdentity(), and vpVelocityTwistMatrix().

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

inlineinherited

Return the number of columns of the 2D array.

See also: getRows(), size()

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testColVector.cpp, testDisplacement.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 146 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::getMaxValue(), and vpArray2D< Type >::getMinValue().

Referenced by vpRowVector::cppPrint(), vpMatrix::cppPrint(), vpRowVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), vpRowVector::maplePrint(), vpMatrix::maplePrint(), vpRowVector::matlabPrint(), vpMatrix::matlabPrint(), vpRowVector::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpForceTwistMatrix::print(), print(), vpRowVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::row(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

double vpArray2D< double >::getMaxValue ( ) const

inherited

Return the array max value.

Examples:: servoMomentImage.cpp, testArray2D.cpp, and testMatrix.cpp.

double vpArray2D< double >::getMinValue ( ) const

inherited

Return the array min value.

Examples:: servoMomentImage.cpp, testArray2D.cpp, and testMatrix.cpp.

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

inlineinherited

Return the number of rows of the 2D array.

See also: getCols(), size()

Examples:: mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, tutorial-matlab.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 156 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpMatrix::column(), vpColVector::cppPrint(), vpMatrix::cppPrint(), vpColVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), vpColVector::maplePrint(), vpMatrix::maplePrint(), vpColVector::matlabPrint(), vpMatrix::matlabPrint(), vpColVector::operator+(), vpColVector::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpForceTwistMatrix::print(), print(), vpPoseVector::print(), vpColVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

vpArray2D<double > vpArray2D< double >::hadamard ( const vpArray2D< double > & m ) const

inherited

Compute the Hadamard product (element wise matrix multiplication).

Parameters

m	: Second matrix;

Returns: m1.hadamard(m2) The Hadamard product : $m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j}$

Examples:: testArray2D.cpp.

vp_deprecated void vpVelocityTwistMatrix::init ( )

inline

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

Definition at line 186 of file vpVelocityTwistMatrix.h.

References vpMatrix::setIdentity().

vpVelocityTwistMatrix vpVelocityTwistMatrix::inverse ( ) const

Invert the velocity twist matrix.

Definition at line 448 of file vpVelocityTwistMatrix.cpp.

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

Referenced by inverse().

void vpVelocityTwistMatrix::inverse ( vpVelocityTwistMatrix & V ) const

Invert the velocity twist matrix.

Definition at line 464 of file vpVelocityTwistMatrix.cpp.

References inverse().

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 322 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()

Examples:: servoFrankaPBVS.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 434 of file vpArray2D.h.

References vpArray2D< Type >::resize().

vpVelocityTwistMatrix vpVelocityTwistMatrix::operator* ( const vpVelocityTwistMatrix & V ) const

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

Definition at line 220 of file vpVelocityTwistMatrix.cpp.

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

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

Operator that allows to multiply a velocity twist transformation matrix by a matrix.

As shown in the example below, this operator can be used to compute the corresponding camera velocity skew from the joint velocities knowing the robot jacobian.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
#include <visp3/robot/vpSimulatorCamera.h>
int main()
{
  vpSimulatorCamera robot;
  vpColVector q_vel(6); // Joint velocity on the 6 joints
  // ... q_vel need here to be initialized
  vpColVector c_v(6); // Velocity in the camera frame: vx,vy,vz,wx,wy,wz
  vpVelocityTwistMatrix cVe;  // Velocity skew transformation from camera frame to end-effector
  robot.get_cVe(cVe);
  vpMatrix eJe;       // Robot jacobian
  robot.get_eJe(eJe);
  // Compute the velocity in the camera frame
  c_v = cVe * eJe * q_vel;
  return 0;
}

Exceptions

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

Definition at line 274 of file vpVelocityTwistMatrix.cpp.

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

vpColVector vpVelocityTwistMatrix::operator* ( const vpColVector & v ) const

Operator that allows to multiply a twist transformation matrix by a 6-dimension column vector.

Parameters

v	: Velocity skew vector.

Exceptions

vpException::dimensionError If v is not a 6 dimension column vector.

Definition at line 304 of file vpVelocityTwistMatrix.cpp.

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

vpVelocityTwistMatrix & vpVelocityTwistMatrix::operator= ( const vpVelocityTwistMatrix & V )

Copy operator that allow to set a velocity twist matrix from an other one.

Parameters

V	: Velocity twist matrix to copy.

Definition at line 58 of file vpVelocityTwistMatrix.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 266 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 268 of file vpArray2D.h.

int vpVelocityTwistMatrix::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<<(std::ostream &s, const vpArray2D<Type> &A)

Examples:: testTwistMatrix.cpp.

Definition at line 509 of file vpVelocityTwistMatrix.cpp.

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

void vpVelocityTwistMatrix::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 169 of file vpVelocityTwistMatrix.h.

References vpException::fatalError.

void vpArray2D< double >::resize	(	const unsigned int	nrows,
		const unsigned int	ncols,
		const bool	flagNullify = `true`,
		const bool	recopy_ = `true`
	)

inlineinherited

Set the size of the array and initialize all the values to zero.

Parameters

nrows	: number of rows.
ncols	: number of column.
flagNullify	: if true, then the array is re-initialized to 0 after resize. If false, the initial values from the common part of the array (common part between old and new version of the array) are kept. Default value is true.
recopy_	: if true, will perform an explicit recopy of the old data if needed and if flagNullify is set to false.

Examples:: testArray2D.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 171 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::dsize, vpException::memoryAllocationError, vpArray2D< Type >::rowNum, and vpArray2D< Type >::rowPtrs.

Referenced by vpMatrix::diag(), vpMatrix::eye(), vpMatrix::init(), vpMatrix::operator=(), vpMatrix::stack(), and vpMatrix::svdOpenCV().

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 519 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()

Examples:: tutorial-chessboard-pose.cpp, tutorial-franka-acquire-calib-data.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 612 of file vpArray2D.h.

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

void vpVelocityTwistMatrix::setIdentity ( )

Deprecated:: You should rather use eye().

Deprecated:: You should rather use eye().

Set the velocity twist transformation matrix to identity.

Definition at line 604 of file vpVelocityTwistMatrix.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, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRowVector.cpp, testThread2.cpp, testTranslationVector.cpp, testTukeyEstimator.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 158 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpRowVector::insert(), vpColVector::insert(), vpColVector::operator*(), vpMatrix::stack(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), and vpColVector::toStdVector().

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.

friend class vpMatrix

friend

Definition at line 116 of file vpVelocityTwistMatrix.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:: testArray2D.cpp, testDisplacement.cpp, testImageFilter.cpp, testMatrix.cpp, testPoseVector.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 84 of file vpArray2D.h.

Referenced by vpMatrix::AtA(), vpQuaternionVector::buildFrom(), vpHomogeneousMatrix::buildFrom(), vpRzyzVector::buildFrom(), vpThetaUVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUOpenCV(), vpTranslationVector::euclideanNorm(), vpRowVector::euclideanNorm(), vpMatrix::euclideanNorm(), vpMatrix::expm(), vpThetaUVector::extract(), vpMatrix::getRow(), vpThetaUVector::getTheta(), vpThetaUVector::getU(), vpColVector::hadamard(), vpMatrix::hadamard(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpColVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUOpenCV(), vpTranslationVector::operator*(), vpRowVector::operator*(), vpColVector::operator*(), vpHomography::operator*(), vpMatrix::operator*(), vpTranslationVector::operator-(), vpRowVector::operator-(), vpColVector::operator-(), vpTranslationVector::operator/(), vpRowVector::operator/(), vpColVector::operator/(), vpHomography::operator/(), vpHomography::operator/=(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpThetaUVector::operator=(), vpColVector::operator==(), vpColVector::operator[](), vpMatrix::qr(), vpMatrix::qrPivot(), vpRowVector::reshape(), vpColVector::reshape(), vpQuaternionVector::set(), vpMatrix::stack(), vpMatrix::stackRows(), vpColVector::sum(), vpColVector::sumSquare(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpRotationVector::t(), vpTranslationVector::t(), vpPoseVector::t(), vpRowVector::t(), vpColVector::t(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), vpColVector::toStdVector(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), 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

Friends

Related Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation