vpVelocityTwistMatrix.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:
 * Velocity twist transformation matrix.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

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

#include <visp3/core/vpException.h>
#include <visp3/core/vpVelocityTwistMatrix.h>

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

  return *this;
}

void vpVelocityTwistMatrix::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;
}

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

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

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

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

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

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

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

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

vpVelocityTwistMatrix vpVelocityTwistMatrix::operator*(const vpVelocityTwistMatrix &V) const
{
  vpVelocityTwistMatrix p;

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

vpMatrix vpVelocityTwistMatrix::operator*(const vpMatrix &M) const
{
  if (6 != M.getRows()) {
    throw(vpException(vpException::dimensionError, "Cannot multiply a (6x6) velocity 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 vpVelocityTwistMatrix::operator*(const vpColVector &v) const
{
  vpColVector c(6);

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

  c = 0.0;

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

  return c;
}

vpVelocityTwistMatrix vpVelocityTwistMatrix::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][j + 3] = 0;
    }
  }
  return (*this);
}

vpVelocityTwistMatrix vpVelocityTwistMatrix::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][j + 3] = skewaR[i][j];
    }
  }

  return (*this);
}

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

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

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

  return (*this);
}

vpVelocityTwistMatrix vpVelocityTwistMatrix::inverse() const
{
  vpVelocityTwistMatrix Wi;
  vpRotationMatrix R;
  extract(R);
  vpTranslationVector T;
  extract(T);
  vpTranslationVector RtT;
  RtT = -(R.t() * T);

  Wi.buildFrom(RtT, R.t());

  return Wi;
}

void vpVelocityTwistMatrix::inverse(vpVelocityTwistMatrix &V) const { V = inverse(); }

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

void vpVelocityTwistMatrix::extract(vpTranslationVector &tv) const
{
  vpRotationMatrix R;
  extract(R);
  vpMatrix skTR(3, 3);
  for (unsigned int i = 0; i < 3; i++)
    for (unsigned int j = 0; j < 3; j++)
      skTR[i][j] = (*this)[i][j + 3];

  vpMatrix skT = skTR * R.t();
  tv[0] = skT[2][1];
  tv[1] = skT[0][2];
  tv[2] = skT[1][0];
}

int vpVelocityTwistMatrix::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 vpVelocityTwistMatrix::setIdentity() { eye(); }

#endif // #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)