vpVelocityTwistMatrix.h

/****************************************************************************
 *
 * 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:
 * Velocity twist transformation matrix.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpVelocityRwistMatrix_h
#define vpVelocityRwistMatrix_h

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

class vpHomogeneousMatrix;
class vpColVector;

class VISP_EXPORT vpVelocityTwistMatrix : public vpArray2D<double>
{
  friend class vpMatrix;

public:
  // basic constructor
  vpVelocityTwistMatrix();
  // copy constructor
  vpVelocityTwistMatrix(const vpVelocityTwistMatrix &V);
  // constructor from an homogeneous transformation
  explicit vpVelocityTwistMatrix(const vpHomogeneousMatrix &M, bool full = true);

  // Construction from Translation and rotation (matrix parameterization)
  vpVelocityTwistMatrix(const vpTranslationVector &t, const vpRotationMatrix &R);
  // Construction from Translation and rotation (ThetaU parameterization)
  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;

  // Basic initialisation (identity)
  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)
  {
    (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