Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
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vpForceTwistMatrix Class Reference
core: Core module » Mathematics » Tranformations

#include <visp3/core/vpForceTwistMatrix.h>

+ Inheritance diagram for vpForceTwistMatrix:

Public Member Functions

 vpForceTwistMatrix ()
 
 vpForceTwistMatrix (const vpForceTwistMatrix &F)
 
 vpForceTwistMatrix (const vpHomogeneousMatrix &M, bool full=true)
 
 vpForceTwistMatrix (const vpTranslationVector &t, const vpRotationMatrix &R)
 
 vpForceTwistMatrix (const vpTranslationVector &t, const vpThetaUVector &thetau)
 
 vpForceTwistMatrix (double tx, double ty, double tz, double tux, double tuy, double tuz)
 
 vpForceTwistMatrix (const vpRotationMatrix &R)
 
 vpForceTwistMatrix (const vpThetaUVector &thetau)
 
virtual ~vpForceTwistMatrix ()
 
vpForceTwistMatrix buildFrom (const vpTranslationVector &t, const vpRotationMatrix &R)
 
vpForceTwistMatrix buildFrom (const vpTranslationVector &t, const vpThetaUVector &thetau)
 
vpForceTwistMatrix buildFrom (const vpHomogeneousMatrix &M, bool full=true)
 
vpForceTwistMatrix buildFrom (const vpRotationMatrix &R)
 
vpForceTwistMatrix buildFrom (const vpThetaUVector &thetau)
 
void eye ()
 
vpForceTwistMatrix operator* (const vpForceTwistMatrix &F) const
 
vpMatrix operator* (const vpMatrix &M) const
 
vpColVector operator* (const vpColVector &H) const
 
vpForceTwistMatrix & operator= (const vpForceTwistMatrix &H)
 
int print (std::ostream &s, unsigned int length, char const *intro=0) const
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true)
 
bool operator== (const vpArray2D< float > &A) const
 
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 (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
 
void reshape (unsigned int nrows, unsigned int ncols)
 
bool operator== (const vpArray2D< double > &A) const
 
bool operator!= (const vpArray2D< double > &A) const
 
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, 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, 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
 

Related Functions

(Note that these are not member functions.)

enum  vpGEMMmethod
 
void vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)
 

Detailed Description

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

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

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

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

There are different ways to initialize such a full force/torque twist matrix. The following example shows how to proceed setting the translation and rotation matrix transformations:

#include <visp3/core/vpForceTwistMatrix.h>
int main()
{
vpTranslationVector stp(0.1, 0.2, 0.3);
vpRotationMatrix sRp( {0, 0, -1,
0, -1, 0,
-1, 0, 0} );
vpForceTwistMatrix sFp(stp, sRp);
std::cout << "sFp:\n" << sFp << std::endl;
}

It produces the following printings:

sFp:
0 0 -1 0 0 0
0 -1 0 0 0 0
-1 0 0 0 0 0
-0.2 0.3 0 0 0 -1
0.1 0 -0.3 0 -1 0
0 -0.1 0.2 -1 0 0

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

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

To initialize such a force/torque twist matrix where translation is not taken into account you can proceed like in the following code:

#include <visp3/core/vpForceTwistMatrix.h>
int main()
{
vpRotationMatrix sRp( {0, 0, -1,
0, -1, 0,
-1, 0, 0} );
vpForceTwistMatrix sFp(sRp);
std::cout << "sFp:\n" << sFp << std::endl;
}

It produces the following printings:

sFp:
0 0 -1 0 0 0
0 -1 0 0 0 0
-1 0 0 0 0 0
0 0 0 0 0 -1
0 0 0 0 -1 0
0 0 0 -1 0 0

The code belows shows for example how to convert a force/torque skew from probe frame to a sensor frame.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpForceTwistMatrix.h>
int main()
{
// Twist transformation matrix from sensor to probe frame
vpForceTwistMatrix sFp;
// Force/torque sensor frame to probe frame transformation
vpHomogeneousMatrix sMp;
// ... sMp need here to be initialized
sFp.buildFrom(sMp);
// Force/torque skew in the probe frame: fx,fy,fz,tx,ty,tz
vpColVector p_H(6);
// ... p_H should here have an initial value
// Force/torque skew in the sensor frame: fx,fy,fz,tx,ty,tz
vpColVector s_H(6);
// Compute the value of the force/torque in the sensor frame
s_H = sFp * p_H;
}
Examples:
testVirtuoseHapticBox.cpp.

Definition at line 166 of file vpForceTwistMatrix.h.

Constructor & Destructor Documentation

◆ vpForceTwistMatrix() [1/8]

vpForceTwistMatrix::vpForceTwistMatrix ( )

Initialize a force/torque twist transformation matrix to identity.

Definition at line 89 of file vpForceTwistMatrix.cpp.

References eye().

◆ vpForceTwistMatrix() [2/8]

vpForceTwistMatrix::vpForceTwistMatrix ( const vpForceTwistMatrix &  F)

Initialize a force/torque twist transformation matrix from another force/torque twist matrix.

Parameters
F: Force/torque twist matrix used as initializer.

Definition at line 98 of file vpForceTwistMatrix.cpp.

◆ vpForceTwistMatrix() [3/8]

vpForceTwistMatrix::vpForceTwistMatrix ( const vpHomogeneousMatrix &  M,
bool  full = true 
)
explicit

Initialize a force/torque 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 twist transformation matrix.
full: Boolean used to indicate which matrix should be filled.
  • When set to true, use the complete force/torque skew transformation:

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

  • When set to false, use the block diagonal velocity skew transformation:

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

Definition at line 129 of file vpForceTwistMatrix.cpp.

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

◆ vpForceTwistMatrix() [4/8]

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

Initialize a force/torque twist transformation matrix from a translation vector t and a rotation matrix R.

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

Parameters
t: Translation vector.
R: Rotation matrix.

Definition at line 200 of file vpForceTwistMatrix.cpp.

References buildFrom().

◆ vpForceTwistMatrix() [5/8]

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

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

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

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

Definition at line 156 of file vpForceTwistMatrix.cpp.

References buildFrom().

◆ vpForceTwistMatrix() [6/8]

vpForceTwistMatrix::vpForceTwistMatrix ( double  tx,
double  ty,
double  tz,
double  tux,
double  tuy,
double  tuz 
)

Initialize a force/torque 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.

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

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

Definition at line 245 of file vpForceTwistMatrix.cpp.

References buildFrom().

◆ vpForceTwistMatrix() [7/8]

vpForceTwistMatrix::vpForceTwistMatrix ( const vpRotationMatrix &  R)

Initialize a force/torque block diagonal twist transformation matrix from a rotation matrix R.

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

Parameters
R: Rotation matrix.

Definition at line 223 of file vpForceTwistMatrix.cpp.

References buildFrom().

◆ vpForceTwistMatrix() [8/8]

vpForceTwistMatrix::vpForceTwistMatrix ( const vpThetaUVector &  thetau)

Initialize a force/torque block diagonal twist transformation matrix from a rotation vector with $\theta u $ parametrization.

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

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

Definition at line 179 of file vpForceTwistMatrix.cpp.

References buildFrom().

◆ ~vpForceTwistMatrix()

virtual vpForceTwistMatrix::~vpForceTwistMatrix ( )
inlinevirtual

Destructor.

Definition at line 188 of file vpForceTwistMatrix.h.

References operator*(), and vpArray2D< Type >::operator=().

Member Function Documentation

◆ buildFrom() [1/5]

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

Build a force/torque twist transformation matrix from a translation vector t and a rotation matrix R.

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

Parameters
t: Translation vector.
R: Rotation matrix.

Definition at line 398 of file vpForceTwistMatrix.cpp.

References vpTranslationVector::skew().

Referenced by buildFrom(), and vpForceTwistMatrix().

◆ buildFrom() [2/5]

vpForceTwistMatrix vpForceTwistMatrix::buildFrom ( const vpTranslationVector &  tv,
const vpThetaUVector &  thetau 
)

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

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

Parameters
tv: Translation vector.
thetau: $\theta {\bf u}$ rotation vector used to initialise $\bf R $.

Definition at line 461 of file vpForceTwistMatrix.cpp.

References buildFrom().

◆ buildFrom() [3/5]

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

Initialize a force/torque 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 $M$ 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 force/torque skew transformation:

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

  • When set to false, use the block diagonal velocity skew transformation:

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

Definition at line 519 of file vpForceTwistMatrix.cpp.

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

◆ buildFrom() [4/5]

vpForceTwistMatrix vpForceTwistMatrix::buildFrom ( const vpRotationMatrix &  R)

Build a block diagonal force/torque twist transformation matrix from a rotation matrix R.

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

Parameters
R: Rotation matrix.

Definition at line 429 of file vpForceTwistMatrix.cpp.

◆ buildFrom() [5/5]

vpForceTwistMatrix vpForceTwistMatrix::buildFrom ( const vpThetaUVector &  thetau)

Initialize a force/torque block diagonal twist transformation matrix from a rotation vector with $\theta u $ parametrization.

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

Parameters
thetau: $\theta {\bf u}$ rotation vector used to initialise $\bf R $.

Definition at line 485 of file vpForceTwistMatrix.cpp.

References buildFrom().

◆ eye()

void vpForceTwistMatrix::eye ( )

Initialize the force/torque 6 by 6 twist matrix to identity.

Definition at line 74 of file vpForceTwistMatrix.cpp.

Referenced by setIdentity(), and vpForceTwistMatrix().

◆ getCols()

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, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 279 of file vpArray2D.h.

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

Referenced by vpMatrix::cond(), vpRowVector::cppPrint(), vpMatrix::cppPrint(), vpRowVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpRotationMatrix::isARotationMatrix(), vpMatrix::kernel(), vpRowVector::maplePrint(), vpMatrix::maplePrint(), vpRowVector::matlabPrint(), vpMatrix::matlabPrint(), vpRowVector::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), print(), vpVelocityTwistMatrix::print(), vpRowVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::row(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

◆ getMaxValue()

double vpArray2D< double >::getMaxValue ( ) const
inherited

Return the array max value.

Examples:
servoMomentImage.cpp, and testArray2D.cpp.

Definition at line 913 of file vpArray2D.h.

References vpArray2D< Type >::data.

◆ getMinValue()

double vpArray2D< double >::getMinValue ( ) const
inherited

Return the array min value.

Examples:
servoMomentImage.cpp, and testArray2D.cpp.

Definition at line 896 of file vpArray2D.h.

References vpArray2D< Type >::data.

◆ getRows()

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, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.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 289 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpMatrix::column(), vpMatrix::cond(), vpColVector::cppPrint(), vpMatrix::cppPrint(), vpColVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpRotationMatrix::isARotationMatrix(), vpMatrix::kernel(), vpColVector::maplePrint(), vpMatrix::maplePrint(), vpColVector::matlabPrint(), vpMatrix::matlabPrint(), vpColVector::operator+(), vpColVector::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), print(), vpVelocityTwistMatrix::print(), vpPoseVector::print(), vpColVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

◆ hadamard()

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.

Definition at line 933 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< Type >::dsize, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and vpArray2D< Type >::resize().

◆ init()

vp_deprecated void vpForceTwistMatrix::init ( )
inline
Deprecated:
Provided only for compat with previous releases. This function does nothing.

Definition at line 232 of file vpForceTwistMatrix.h.

◆ load()

static bool vpArray2D< double >::load ( const std::string &  filename,
vpArray2D< double > &  A,
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 541 of file vpArray2D.h.

References vpException::badValue, and vpArray2D< Type >::resize().

◆ loadYAML()

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:
servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 653 of file vpArray2D.h.

References vpArray2D< Type >::resize().

◆ operator!=()

bool vpArray2D< double >::operator!= ( const vpArray2D< double > &  A) const
inherited

Not equal to comparison operator of a 2D array.

Definition at line 994 of file vpArray2D.h.

◆ operator*() [1/3]

vpForceTwistMatrix vpForceTwistMatrix::operator* ( const vpForceTwistMatrix &  F) const

Operator that allows to multiply a force/torque twist transformation matrix by an other force/torque skew transformation matrix.

#include <visp3/core/vpForceTwistMatrix.h>
int main()
{
vpForceTwistMatrix aFb, bFc;
// ... initialize the force/torque twist transformations aFb and bFc
// Compute the force/torque transformation from frame a to c
vpForceTwistMatrix aFc = aFb * bFc;
}

Definition at line 271 of file vpForceTwistMatrix.cpp.

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

◆ operator*() [2/3]

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

Operator that allows to multiply a force/torque skew transformation matrix by a matrix.

Exceptions
vpException::dimensionError: If $\bf M$ is not a 6 rows dimension matrix.

Definition at line 293 of file vpForceTwistMatrix.cpp.

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

◆ operator*() [3/3]

vpColVector vpForceTwistMatrix::operator* ( const vpColVector &  H) const

Operator that allows to multiply a force/torque skew transformation matrix by a column vector.

Parameters
H: Force/torque skew vector ${\bf H} = [f_x, f_y, f_z, \tau_x, \tau_y, \tau_z] $.

For example, this operator can be used to convert a force/torque skew from sensor frame into the probe frame :

\[{^p}{\bf H}_{p} = {^p}{\bf F}_s \; {^s}{\bf H}_s\]

The example below shows how to handle that transformation.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpForceTwistMatrix.h>
#include <visp3/robot/vpRobotViper850.h>
int main()
{
#ifdef VISP_HAVE_VIPER850
vpRobotViper850 robot;
vpColVector sH = robot.getForceTorque(sH); // Get the force/torque measures
// Set the transformation from sensor frame to the probe frame
vpHomogeneousMatrix pMs;
pMs[2][3] = -0.262; // tz only
// Set the force/torque twist transformation
vpForceTwistMatrix pFs(pMs); // Twist transformation matrix from probe to sensor frame
// Compute the resulting force/torque in the probe frame
vpColVector pH(6); // Force/torque in the probe frame
pH = pFs * sH;
#endif
}
Exceptions
vpException::dimensionErrorIf $ \bf H $is not a 6 dimension vector.

Definition at line 357 of file vpForceTwistMatrix.cpp.

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

◆ operator=()

vpForceTwistMatrix & vpForceTwistMatrix::operator= ( const vpForceTwistMatrix &  M)

Copy operator.

Parameters
M: Force/torque twist matrix to copy.

Definition at line 60 of file vpForceTwistMatrix.cpp.

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

◆ operator==() [1/2]

bool vpArray2D< double >::operator== ( const vpArray2D< double > &  A) const
inherited

Equal to comparison operator of a 2D array.

Definition at line 949 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< Type >::operator==(), vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().

◆ operator==() [2/2]

bool vpArray2D< float >::operator== ( const vpArray2D< float > &  A) const
inlineinherited

Definition at line 979 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().

◆ operator[]() [1/2]

double * vpArray2D< double >::operator[] ( unsigned int  i)
inlineinherited

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 485 of file vpArray2D.h.

◆ operator[]() [2/2]

double * vpArray2D< double >::operator[] ( unsigned int  i) const
inlineinherited

Get element $x = A_{ij}$ using x = A[i][j].

Definition at line 487 of file vpArray2D.h.

◆ print()

int vpForceTwistMatrix::print ( std::ostream &  s,
unsigned int  length,
char const *  intro = 0 
) const

Pretty print a force/torque twist matrix. The data are tabulated. The common widths before and after the decimal point are set with respect to the parameter maxlen.

Parameters
sStream used for the printing.
lengthThe 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.
introThe 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 <<(ostream &s,const vpMatrix &m)

Definition at line 548 of file vpForceTwistMatrix.cpp.

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

◆ reshape()

void vpArray2D< double >::reshape ( unsigned int  nrows,
unsigned int  ncols 
)
inlineinherited
Examples:
testMatrixInitialization.cpp.

Definition at line 380 of file vpArray2D.h.

References vpException::dimensionError, vpArray2D< Type >::dsize, vpArray2D< Type >::operator!=(), vpArray2D< Type >::operator==(), vpArray2D< Type >::resize(), and vpArray2D< Type >::rowPtrs.

◆ resize() [1/2]

void vpForceTwistMatrix::resize ( unsigned int  nrows,
unsigned int  ncols,
bool  flagNullify = true 
)
inline

This function is not applicable to a velocity twist matrix that is always a 6-by-6 matrix.

Exceptions
vpException::fatalErrorWhen this function is called.

Definition at line 215 of file vpForceTwistMatrix.h.

References vpException::fatalError.

◆ resize() [2/2]

void vpArray2D< double >::resize ( unsigned int  nrows,
unsigned int  ncols,
bool  flagNullify = true,
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, testMatrixConditionNumber.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 305 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::operator<<(), vpMatrix::operator=(), vpMatrix::stack(), and vpMatrix::svdOpenCV().

◆ save()

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< double > &  A,
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 738 of file vpArray2D.h.

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

◆ saveYAML()

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 831 of file vpArray2D.h.

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

◆ setIdentity()

void vpForceTwistMatrix::setIdentity ( )
Deprecated:
You should rather use eye().
Deprecated:
You should rather use eye().

Set the twist transformation matrix to identity.

See also
eye()

Definition at line 643 of file vpForceTwistMatrix.cpp.

References eye().

◆ size()

unsigned int vpArray2D< double >::size ( ) const
inlineinherited

Return the number of elements of the 2D array.

Examples:
testColVector.cpp, testDisplacement.cpp, testEigenConversion.cpp, testMatrix.cpp, testMatrixInitialization.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 291 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpRowVector::insert(), vpColVector::insert(), vpColVector::operator*(), vpRotationVector::operator,(), vpTranslationVector::operator,(), vpRotationMatrix::operator,(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRxyzVector::operator=(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpThetaUVector::operator=(), vpMatrix::stack(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), and vpColVector::toStdVector().

Friends And Related Function Documentation

◆ vpGEMM()

void vpGEMM ( const vpArray2D< double > &  A,
const vpArray2D< double > &  B,
const double &  alpha,
const vpArray2D< double > &  C,
const double &  beta,
vpArray2D< double > &  D,
const unsigned int &  ops = 0 
)
related

This function performs generalized matrix multiplication: D = alpha*op(A)*op(B) + beta*op(C), where op(X) is X or X^T. Operation on A, B and C matrices is described by enumeration vpGEMMmethod().

For example, to compute D = alpha*A^T*B^T+beta*C we need to call :

vpGEMM(A, B, alpha, C, beta, D, VP_GEMM_A_T + VP_GEMM_B_T);

If C is not used, vpGEMM must be called using an empty array null. Thus to compute D = alpha*A^T*B, we have to call:

vpGEMM(A, B, alpha, null, 0, D, VP_GEMM_B_T);
Exceptions
vpException::incorrectMatrixSizeErrorif the sizes of the matrices do not allow the operations.
Parameters
A: An array that could be a vpMatrix.
B: An array that could be a vpMatrix.
alpha: A scalar.
C: An array that could be a vpMatrix.
beta: A scalar.
D: The resulting array that could be a vpMatrix.
ops: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 393 of file vpGEMM.h.

References vpException::functionNotImplementedError.

◆ vpGEMMmethod

enum vpGEMMmethod
related

Enumeration of the operations applied on matrices in vpGEMM() function.

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.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 137 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUGsl(), vpMatrix::detByLULapack(), vpMatrix::detByLUOpenCV(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpMatrix::eye(), vpMatrix::getDiag(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUGsl(), vpMatrix::inverseByLULapack(), vpMatrix::inverseByLUOpenCV(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpRotationMatrix::operator*(), vpRowVector::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpRowVector::operator*=(), vpMatrix::operator*=(), vpRowVector::operator+(), vpRowVector::operator+=(), vpMatrix::operator+=(), vpRowVector::operator,(), vpMatrix::operator,(), vpRowVector::operator-(), vpRowVector::operator-=(), vpMatrix::operator-=(), vpRowVector::operator/(), vpMatrix::operator/(), vpRowVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::operator==(), vpColVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpRowVector::reshape(), vpMatrix::setIdentity(), vpMatrix::solveByQR(), vpMatrix::solveBySVD(), vpMatrix::stack(), vpRowVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpRowVector::sum(), vpMatrix::sum(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), vpRowVector::t(), vpMatrix::transpose(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ data

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

Examples:
testArray2D.cpp, testDisplacement.cpp, testEigenConversion.cpp, testImageFilter.cpp, testMatrix.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 145 of file vpArray2D.h.

Referenced by vpMatrix::AtA(), vpQuaternionVector::buildFrom(), vpHomogeneousMatrix::buildFrom(), vpThetaUVector::buildFrom(), vpRzyzVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUOpenCV(), vpMatrix::expm(), vpThetaUVector::extract(), vpMatrix::frobeniusNorm(), 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*(), vpHomography::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpRotationVector::operator,(), vpTranslationVector::operator,(), vpRotationMatrix::operator,(), vpRowVector::operator,(), vpColVector::operator,(), vpTranslationVector::operator-(), vpRowVector::operator-(), vpColVector::operator-(), vpTranslationVector::operator/(), vpRowVector::operator/(), vpHomography::operator/(), vpColVector::operator/(), vpHomography::operator/=(), vpRotationVector::operator<<(), vpTranslationVector::operator<<(), vpRotationMatrix::operator<<(), vpRowVector::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRotationMatrix::operator=(), vpRxyzVector::operator=(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpRowVector::operator=(), vpThetaUVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::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(), vpRowVector::vpRowVector(), vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), vpQuaternionVector::z(), vpSubColVector::~vpSubColVector(), vpSubMatrix::~vpSubMatrix(), and vpSubRowVector::~vpSubRowVector().

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 141 of file vpArray2D.h.

Referenced by vpColVector::clear(), vpMatrix::frobeniusNorm(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::inducedL2Norm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRotationVector::operator*(), vpTranslationVector::operator*(), vpTranslationVector::operator-(), vpTranslationVector::operator/(), vpRotationMatrix::operator=(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpThetaUVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::reshape(), vpColVector::reshape(), vpRotationVector::t(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 135 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUGsl(), vpMatrix::detByLULapack(), vpMatrix::detByLUOpenCV(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpColVector::extract(), vpMatrix::eye(), vpMatrix::getCol(), vpMatrix::getDiag(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpColVector::infinityNorm(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUGsl(), vpMatrix::inverseByLULapack(), vpMatrix::inverseByLUOpenCV(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpTranslationVector::operator*(), vpRotationMatrix::operator*(), vpHomogeneousMatrix::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpTranslationVector::operator*=(), vpRotationMatrix::operator*=(), vpColVector::operator*=(), vpMatrix::operator*=(), vpColVector::operator+(), vpColVector::operator+=(), vpMatrix::operator+=(), vpColVector::operator,(), vpColVector::operator-(), vpColVector::operator-=(), vpMatrix::operator-=(), vpColVector::operator/(), vpMatrix::operator/(), vpTranslationVector::operator/=(), vpColVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::operator==(), vpColVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpColVector::reshape(), vpMatrix::setIdentity(), vpMatrix::stack(), vpColVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpColVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), vpTranslationVector::sumSquare(), vpColVector::sumSquare(), vpMatrix::sumSquare(), vpTranslationVector::t(), vpPoseVector::t(), vpColVector::t(), vpMatrix::transpose(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 139 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpColVector::clear(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::init(), vpColVector::init(), vpMatrix::init(), vpRotationMatrix::operator*(), operator*(), vpVelocityTwistMatrix::operator*(), vpHomogeneousMatrix::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpMatrix::operator*=(), vpMatrix::operator+=(), vpMatrix::operator,(), vpMatrix::operator-=(), vpMatrix::operator/(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubMatrix::operator=(), vpRotationMatrix::operator=(), operator=(), vpHomogeneousMatrix::operator=(), vpVelocityTwistMatrix::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpMatrix::stack(), vpMatrix::stackColumns(), vpRowVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), vpTranslationVector::sumSquare(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().