testTwistMatrix.cpp

Test some vpMatrix functionalities.

/****************************************************************************
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 * ViSP, open source Visual Servoing Platform software.
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 * Description:
 * Tests some vpMatrix functionalities.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>

#include <stdio.h>
#include <stdlib.h>

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>

int main()
{
  try {
    vpTRACE("--------------------------");
    vpTRACE("--- TEST vpVelocityTwistMatrix ---");
    vpTRACE("--------------------------");

    // Set the translation
    vpTranslationVector cte;
    cte[0] = 1.;
    cte[1] = 0.5;
    cte[2] = -1.;

    // Set the rotation
    vpRxyzVector cre;
    cre[0] = M_PI / 2.;
    cre[1] = -M_PI / 2.;
    cre[2] = -M_PI / 4.;

    // Build rotation matrix
    vpRotationMatrix cRe(cre);

    // Build the twist matrix
    vpVelocityTwistMatrix cVe(cte, cRe);

    vpTRACE("cVe twist matrix:");
    cVe.print(std::cout, 6);

    // Set a speed skew
    vpColVector ev(6);

    ev[0] = 1.;
    ev[1] = 0.1;
    ev[2] = -0.5;
    ev[3] = M_PI / 180.;
    ev[4] = M_PI / 18.;
    ev[5] = M_PI / 10.;

    vpTRACE("ev colvector:");
    ev.print(std::cout, 6);

    // Set a speed skew
    vpColVector cv;

    cv = cVe * ev;

    vpTRACE("cv = cVe * ev:");
    cv.print(std::cout, 6);
    return 0;
  } catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}