vpForceTwistMatrix.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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
 *
 *****************************************************************************/

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

#include <visp3/core/vpDebug.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpForceTwistMatrix.h>

vpForceTwistMatrix &vpForceTwistMatrix::operator=(const vpForceTwistMatrix &M)
{
  for (int i = 0; i < 6; i++) {
    for (int j = 0; j < 6; j++) {
      rowPtrs[i][j] = M.rowPtrs[i][j];
    }
  }

  return *this;
}

void vpForceTwistMatrix::eye()
{
  for (unsigned int i = 0; i < 6; i++) {
    for (unsigned int j = 0; j < 6; j++) {
      if (i == j)
        (*this)[i][j] = 1.0;
      else
        (*this)[i][j] = 0.0;
    }
  }
}

vpForceTwistMatrix::vpForceTwistMatrix() : vpArray2D<double>(6, 6) { eye(); }

vpForceTwistMatrix::vpForceTwistMatrix(const vpForceTwistMatrix &F) : vpArray2D<double>(6, 6) { *this = F; }

vpForceTwistMatrix::vpForceTwistMatrix(const vpHomogeneousMatrix &M, bool full) : vpArray2D<double>(6, 6)
{
  if (full)
    buildFrom(M);
  else
    buildFrom(M.getRotationMatrix());
}

vpForceTwistMatrix::vpForceTwistMatrix(const vpTranslationVector &t, const vpThetaUVector &thetau)
  : vpArray2D<double>(6, 6)
{
  buildFrom(t, thetau);
}

vpForceTwistMatrix::vpForceTwistMatrix(const vpThetaUVector &thetau) : vpArray2D<double>(6, 6) { buildFrom(thetau); }

vpForceTwistMatrix::vpForceTwistMatrix(const vpTranslationVector &t, const vpRotationMatrix &R)
  : vpArray2D<double>(6, 6)
{
  buildFrom(t, R);
}

vpForceTwistMatrix::vpForceTwistMatrix(const vpRotationMatrix &R) : vpArray2D<double>(6, 6) { buildFrom(R); }

vpForceTwistMatrix::vpForceTwistMatrix(const double tx, const double ty, const double tz, const double tux,
                                       const double tuy, const double tuz)
  : vpArray2D<double>(6, 6)
{
  vpTranslationVector T(tx, ty, tz);
  vpThetaUVector tu(tux, tuy, tuz);
  buildFrom(T, tu);
}

vpForceTwistMatrix vpForceTwistMatrix::operator*(const vpForceTwistMatrix &F) const
{
  vpForceTwistMatrix Fout;

  for (unsigned int i = 0; i < 6; i++) {
    for (unsigned int j = 0; j < 6; j++) {
      double s = 0;
      for (unsigned int k = 0; k < 6; k++)
        s += rowPtrs[i][k] * F.rowPtrs[k][j];
      Fout[i][j] = s;
    }
  }
  return Fout;
}

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

  if (6 != M.getRows()) {
    throw(vpException(vpException::dimensionError,
                      "Cannot multiply (6x6) force/torque twist matrix by a (%dx%d) matrix", M.getRows(), M.getCols()));
  }

  vpMatrix p(6, M.getCols());
  for (unsigned int i = 0; i < 6; i++) {
    for (unsigned int j = 0; j < M.getCols(); j++) {
      double s = 0;
      for (unsigned int k = 0; k < 6; k++)
        s += rowPtrs[i][k] * M[k][j];
      p[i][j] = s;
    }
  }
  return p;
}

vpColVector vpForceTwistMatrix::operator*(const vpColVector &H) const
{
  vpColVector Hout(6);

  if (6 != H.getRows()) {
    throw(vpException(vpException::dimensionError,
                      "Cannot multiply a (6x6) force/torque twist matrix by "
                      "a %d dimension column vector",
                      H.getRows()));
  }

  Hout = 0.0;

  for (unsigned int i = 0; i < 6; i++) {
    for (unsigned int j = 0; j < 6; j++) {
      Hout[i] += rowPtrs[i][j] * H[j];
    }
  }

  return Hout;
}

vpForceTwistMatrix vpForceTwistMatrix::buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
{
  vpMatrix skewaR = t.skew(t) * R;

  for (unsigned int i = 0; i < 3; i++) {
    for (unsigned int j = 0; j < 3; j++) {
      (*this)[i][j] = R[i][j];
      (*this)[i + 3][j + 3] = R[i][j];
      (*this)[i + 3][j] = skewaR[i][j];
    }
  }
  return (*this);
}

vpForceTwistMatrix vpForceTwistMatrix::buildFrom(const vpRotationMatrix &R)
{
  for (unsigned int i = 0; i < 3; i++) {
    for (unsigned int j = 0; j < 3; j++) {
      (*this)[i][j] = R[i][j];
      (*this)[i + 3][j + 3] = R[i][j];
      (*this)[i + 3][j] = 0;
    }
  }
  return (*this);
}

vpForceTwistMatrix vpForceTwistMatrix::buildFrom(const vpTranslationVector &tv, const vpThetaUVector &thetau)
{
  buildFrom(tv, vpRotationMatrix(thetau));
  return (*this);
}

vpForceTwistMatrix vpForceTwistMatrix::buildFrom(const vpThetaUVector &thetau)
{
  buildFrom(vpRotationMatrix(thetau));
  return (*this);
}

vpForceTwistMatrix vpForceTwistMatrix::buildFrom(const vpHomogeneousMatrix &M, bool full)
{
  if (full)
    buildFrom(M.getTranslationVector(), M.getRotationMatrix());
  else
    buildFrom(M.getRotationMatrix());

  return (*this);
}

int vpForceTwistMatrix::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 = getCols();

  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) {
    for (unsigned int j = 0; j < n; ++j) {
      oss.str("");
      oss << (*this)[i][j];
      if (oss.str().find("e") != std::string::npos) {
        ossFixed.str("");
        ossFixed << (*this)[i][j];
        oss.str(ossFixed.str());
      }

      values[i * n + j] = oss.str();
      size_type thislen = values[i * n + j].size();
      size_type p = values[i * n + j].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 << "  ";
    for (unsigned int j = 0; j < n; j++) {
      size_type p = values[i * n + j].find('.');
      s.setf(std::ios::right, std::ios::adjustfield);
      s.width((std::streamsize)maxBefore);
      s << values[i * n + j].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 * n + j].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);
}

#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

void vpForceTwistMatrix::setIdentity() { eye(); }

#endif //#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)