Visual Servoing Platform
version 3.5.1 under development (2023-09-22)
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#include <visp3/core/vpForceTwistMatrix.h>
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) |
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) |
void | insert (const vpArray2D< double > &A, unsigned int r, unsigned int c) |
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 |
vpArray2D< double > | t () const |
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 |
bool | operator== (const vpArray2D< double > &A) const |
bool | operator== (const vpArray2D< float > &A) const |
bool | operator!= (const vpArray2D< double > &A) const |
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) |
Inherited I/O from vpArray2D with Static Public Member Functions | |
vpArray2D< double > | insert (const vpArray2D< double > &A, const vpArray2D< double > &B, unsigned int r, unsigned int c) |
static void | insert (const vpArray2D< double > &A, const vpArray2D< double > &B, vpArray2D< double > &C, unsigned int r, unsigned int c) |
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="") |
static vpArray2D< double > | conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, const std::string &mode) |
static void | conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, vpArray2D< double > &res, const std::string &mode) |
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:
where is a rotation matrix and 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:
It produces the following printings:
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 :
To initialize such a force/torque twist matrix where translation is not taken into account you can proceed like in the following code:
It produces the following printings:
The code belows shows for example how to convert a force/torque skew from probe frame to a sensor frame.
Definition at line 161 of file vpForceTwistMatrix.h.
vpForceTwistMatrix::vpForceTwistMatrix | ( | ) |
Initialize a force/torque twist transformation matrix to identity.
Definition at line 86 of file vpForceTwistMatrix.cpp.
References eye().
vpForceTwistMatrix::vpForceTwistMatrix | ( | const vpForceTwistMatrix & | F | ) |
Initialize a force/torque twist transformation matrix from another force/torque twist matrix.
F | : Force/torque twist matrix used as initializer. |
Definition at line 95 of file vpForceTwistMatrix.cpp.
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explicit |
Initialize a force/torque twist transformation matrix from an homogeneous matrix with
M | : Homogeneous matrix used to initialize the twist transformation matrix. |
full | : Boolean used to indicate which matrix should be filled.
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Definition at line 126 of file vpForceTwistMatrix.cpp.
References buildFrom(), and vpHomogeneousMatrix::getRotationMatrix().
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.
t | : Translation vector. |
R | : Rotation matrix. |
Definition at line 197 of file vpForceTwistMatrix.cpp.
References buildFrom(), and vpArray2D< double >::t().
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 parametrization.
t | : Translation vector. |
thetau | : rotation vector used to initialize . |
Definition at line 153 of file vpForceTwistMatrix.cpp.
References buildFrom(), and vpArray2D< double >::t().
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 and a rotation vector with parametrization.
tx,ty,tz | : Translation vector in meters. |
tux,tuy,tuz | : rotation vector expressed in radians used to initialize . |
Definition at line 242 of file vpForceTwistMatrix.cpp.
References buildFrom().
vpForceTwistMatrix::vpForceTwistMatrix | ( | const vpRotationMatrix & | R | ) |
Initialize a force/torque block diagonal twist transformation matrix from a rotation matrix R.
R | : Rotation matrix. |
Definition at line 220 of file vpForceTwistMatrix.cpp.
References buildFrom().
vpForceTwistMatrix::vpForceTwistMatrix | ( | const vpThetaUVector & | thetau | ) |
Initialize a force/torque block diagonal twist transformation matrix from a rotation vector with parametrization.
thetau | : rotation vector used to initialize . |
Definition at line 176 of file vpForceTwistMatrix.cpp.
References buildFrom().
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inlinevirtual |
Destructor.
Definition at line 183 of file vpForceTwistMatrix.h.
vpForceTwistMatrix vpForceTwistMatrix::buildFrom | ( | const vpHomogeneousMatrix & | M, |
bool | full = true |
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Initialize a force/torque twist transformation matrix from an homogeneous matrix with
M | : Homogeneous matrix used to initialize the velocity twist transformation matrix. |
full | : Boolean used to indicate which matrix should be filled.
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Definition at line 516 of file vpForceTwistMatrix.cpp.
References buildFrom(), vpHomogeneousMatrix::getRotationMatrix(), and vpHomogeneousMatrix::getTranslationVector().
vpForceTwistMatrix vpForceTwistMatrix::buildFrom | ( | const vpRotationMatrix & | R | ) |
Build a block diagonal force/torque twist transformation matrix from a rotation matrix R.
R | : Rotation matrix. |
Definition at line 426 of file vpForceTwistMatrix.cpp.
vpForceTwistMatrix vpForceTwistMatrix::buildFrom | ( | const vpThetaUVector & | thetau | ) |
Initialize a force/torque block diagonal twist transformation matrix from a rotation vector with parametrization.
thetau | : rotation vector used to initialise . |
Definition at line 482 of file vpForceTwistMatrix.cpp.
References buildFrom().
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.
t | : Translation vector. |
R | : Rotation matrix. |
Definition at line 395 of file vpForceTwistMatrix.cpp.
References vpArray2D< double >::t().
Referenced by buildFrom(), and vpForceTwistMatrix().
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 parametrization.
tv | : Translation vector. |
thetau | : rotation vector used to initialise . |
Definition at line 458 of file vpForceTwistMatrix.cpp.
References buildFrom().
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staticinherited |
Perform a 2D convolution similar to Matlab conv2 function: .
M | : First matrix. |
kernel | : Second matrix. |
mode | : Convolution mode: "full" (default), "same", "valid". |
Definition at line 956 of file vpArray2D.h.
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staticinherited |
Perform a 2D convolution similar to Matlab conv2 function: .
M | : First array. |
kernel | : Second array. |
res | : Result. |
mode | : Convolution mode: "full" (default), "same", "valid". |
Definition at line 970 of file vpArray2D.h.
void vpForceTwistMatrix::eye | ( | ) |
Initialize the force/torque 6 by 6 twist matrix to identity.
Definition at line 71 of file vpForceTwistMatrix.cpp.
Referenced by setIdentity(), and vpForceTwistMatrix().
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inlineinherited |
Return the number of columns of the 2D array.
Definition at line 280 of file vpArray2D.h.
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inherited |
Return the array max value.
Definition at line 282 of file vpArray2D.h.
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inherited |
Return the array min value.
Definition at line 284 of file vpArray2D.h.
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inlineinherited |
Return the number of rows of the 2D array.
Definition at line 290 of file vpArray2D.h.
Compute the Hadamard product (element wise matrix multiplication).
m | : Second matrix; |
Definition at line 554 of file vpArray2D.h.
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inline |
Definition at line 227 of file vpForceTwistMatrix.h.
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inherited |
Insert array B in array A at the given position.
A | : Main array. |
B | : Array to insert. |
r | : Index of the row where to add the array. |
c | : Index of the column where to add the array. |
Definition at line 984 of file vpArray2D.h.
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inlineinherited |
Insert array A at the given position in the current array.
A | : The array to insert. |
r | : The index of the row to begin to insert data. |
c | : The index of the column to begin to insert data. |
Definition at line 417 of file vpArray2D.h.
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inlinestaticinherited |
Load a matrix from a file.
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. |
Definition at line 582 of file vpArray2D.h.
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inlinestaticinherited |
Load an array from a YAML-formatted file.
filename | : absolute file name. |
A | : array to be loaded from the file. |
header | : header of the file is loaded in this parameter. |
Definition at line 696 of file vpArray2D.h.
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inherited |
Not equal to comparison operator of a 2D array.
Definition at line 442 of file vpArray2D.h.
vpColVector vpForceTwistMatrix::operator* | ( | const vpColVector & | H | ) | const |
Operator that allows to multiply a force/torque skew transformation matrix by a column vector.
H | : Force/torque skew vector . |
For example, this operator can be used to convert a force/torque skew from sensor frame into the probe frame :
The example below shows how to handle that transformation.
vpException::dimensionError | If is not a 6 dimension vector. |
Definition at line 354 of file vpForceTwistMatrix.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), and vpArray2D< double >::rowPtrs.
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.
Definition at line 268 of file vpForceTwistMatrix.cpp.
References vpArray2D< Type >::rowPtrs, and vpArray2D< double >::rowPtrs.
Operator that allows to multiply a force/torque skew transformation matrix by a matrix.
vpException::dimensionError | : If is not a 6 rows dimension matrix. |
Definition at line 290 of file vpForceTwistMatrix.cpp.
References vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and vpArray2D< double >::rowPtrs.
vpForceTwistMatrix & vpForceTwistMatrix::operator= | ( | const vpForceTwistMatrix & | M | ) |
Copy operator.
M | : Force/torque twist matrix to copy. |
Definition at line 57 of file vpForceTwistMatrix.cpp.
References vpArray2D< Type >::rowPtrs, and vpArray2D< double >::rowPtrs.
Equal to comparison operator of a 2D array.
Definition at line 438 of file vpArray2D.h.
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inlineinherited |
Set element using A[i][j] = x.
Definition at line 520 of file vpArray2D.h.
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inlineinherited |
Get element using x = A[i][j].
Definition at line 522 of file vpArray2D.h.
int vpForceTwistMatrix::print | ( | std::ostream & | s, |
unsigned int | length, | ||
char const * | intro = 0 |
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) | 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.
s | Stream used for the printing. |
length | The 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. |
intro | The introduction which is printed before the matrix. Can be set to zero (or omitted), in which case the introduction is not printed. |
Definition at line 545 of file vpForceTwistMatrix.cpp.
References vpArray2D< double >::getCols(), vpArray2D< double >::getRows(), and vpMath::maximum().
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inlineinherited |
Definition at line 383 of file vpArray2D.h.
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inline |
This function is not applicable to a velocity twist matrix that is always a 6-by-6 matrix.
vpException::fatalError | When this function is called. |
Definition at line 210 of file vpForceTwistMatrix.h.
References vpException::fatalError.
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inlineinherited |
Set the size of the array and initialize all the values to zero.
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. |
Definition at line 305 of file vpArray2D.h.
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inlinestaticinherited |
Save a matrix to a file.
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. |
Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.
Definition at line 784 of file vpArray2D.h.
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inlinestaticinherited |
Save an array in a YAML-formatted file.
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. |
Here is an example of outputs.
Content of matrix.yml:
Content of matrixIndent.yml:
Definition at line 877 of file vpArray2D.h.
void vpForceTwistMatrix::setIdentity | ( | ) |
Set the twist transformation matrix to identity.
Definition at line 640 of file vpForceTwistMatrix.cpp.
References eye().
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inlineinherited |
Return the number of elements of the 2D array.
Definition at line 292 of file vpArray2D.h.
Compute the transpose of the array.
Definition at line 561 of file vpArray2D.h.
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related |
Insert array B in array A at the given position.
A | : Main array. |
B | : Array to insert. |
C | : Result array. |
r | : Index of the row where to insert array B. |
c | : Index of the column where to insert array B. |
Definition at line 999 of file vpArray2D.h.
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related |
Definition at line 1227 of file vpArray2D.h.
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related |
Definition at line 1191 of file vpArray2D.h.
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related |
Definition at line 1209 of file vpArray2D.h.
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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 :
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:
vpException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the operations. |
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. |
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related |
Enumeration of the operations applied on matrices in vpGEMM() function.
Operations are :
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protectedinherited |
Number of columns in the array.
Definition at line 136 of file vpArray2D.h.
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inherited |
Address of the first element of the data array.
Definition at line 144 of file vpArray2D.h.
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protectedinherited |
Current array size (rowNum * colNum)
Definition at line 140 of file vpArray2D.h.
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protectedinherited |
Number of rows in the array.
Definition at line 134 of file vpArray2D.h.
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protectedinherited |
Address of the first element of each rows.
Definition at line 138 of file vpArray2D.h.