#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)

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=nullptr) 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=nullptr)

static bool	loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=nullptr)

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)

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  -1  0  0  0
-1  0  0  0  0
-1  0  0  0  0  0
0  0  0  0  -1
0  0  0  -1  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 161 of file vpForceTwistMatrix.h.

Constructor & Destructor Documentation

◆ vpForceTwistMatrix() [1/8]

vpForceTwistMatrix::vpForceTwistMatrix ( )

Initialize a force/torque twist transformation matrix to identity.

Definition at line 88 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 97 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 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 128 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 201 of file vpForceTwistMatrix.cpp.

References buildFrom(), and vpArray2D< double >::t().

◆ 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 .

Definition at line 157 of file vpForceTwistMatrix.cpp.

References buildFrom(), and vpArray2D< double >::t().

◆ 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 .

Definition at line 246 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 224 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 .

Definition at line 180 of file vpForceTwistMatrix.cpp.

References buildFrom().

Member Function Documentation

◆ buildFrom() [1/5]

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

Initialize a force/torque twist transformation matrix from an homogeneous matrix with

${\bf M} = \left[\begin{array}{cc} {\bf R} & {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]$

Parameters

M : Homogeneous matrix 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 523 of file vpForceTwistMatrix.cpp.

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

◆ buildFrom() [2/5]

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 433 of file vpForceTwistMatrix.cpp.

◆ buildFrom() [3/5]

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 489 of file vpForceTwistMatrix.cpp.

References buildFrom().

◆ buildFrom() [4/5]

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 402 of file vpForceTwistMatrix.cpp.

References vpArray2D< double >::t().

Referenced by buildFrom(), and vpForceTwistMatrix().

◆ buildFrom() [5/5]

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 465 of file vpForceTwistMatrix.cpp.

References buildFrom().

◆ conv2() [1/2]

vpArray2D< double > vpArray2D< double >::conv2	(	const vpArray2D< Type > &	M,
		const vpArray2D< Type > &	kernel,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First matrix.
kernel	: Second matrix.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Examples: testMatrixConvolution.cpp.

Definition at line 1029 of file vpArray2D.h.

◆ conv2() [2/2]

void vpArray2D< double >::conv2	(	const vpArray2D< Type > &	M,
		const vpArray2D< Type > &	kernel,
		vpArray2D< Type > &	res,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First array.
kernel	: Second array.
res	: Result.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Definition at line 1043 of file vpArray2D.h.

◆ eye()

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().

◆ 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, testArray2D.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRotation.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 327 of file vpArray2D.h.

◆ getMaxValue()

double vpArray2D< double >::getMaxValue

inherited

Return the array max value.

Examples: servoMomentImage.cpp.

Definition at line 329 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue

inherited

Return the array min value.

Examples: servoMomentImage.cpp.

Definition at line 331 of file vpArray2D.h.

◆ getRows()

unsigned int vpArray2D< double >::getRows ( ) const

inlineinherited

Return the number of rows of the 2D array.

See also: getCols(), size()

Definition at line 337 of file vpArray2D.h.

◆ hadamard()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< Type > & 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 625 of file vpArray2D.h.

◆ init()

vp_deprecated void vpForceTwistMatrix::init ( )

inline

Deprecated:: Provided only for compat with previous releases. This function does nothing.

Definition at line 222 of file vpForceTwistMatrix.h.

◆ insert() [1/2]

vpArray2D< double > vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		unsigned int	r,
		unsigned int	c
	)

inherited

Insert array B in array A at the given position.

Parameters

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.

Returns: Array with B insert in A.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1057 of file vpArray2D.h.

◆ insert() [2/2]

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		unsigned int	r,
		unsigned int	c
	)

inlineinherited

Insert array A at the given position in the current array.

Warning: Throw vpException::dimensionError if the dimensions of the matrices do not allow the operation.

Parameters

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 484 of file vpArray2D.h.

◆ load()

static bool vpArray2D< double >::load	(	const std::string &	filename,
		vpArray2D< Type > &	A,
		bool	binary = `false`,
		char *	header = `nullptr`
	)

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 653 of file vpArray2D.h.

◆ loadYAML()

static bool vpArray2D< double >::loadYAML	(	const std::string &	filename,
		vpArray2D< Type > &	A,
		char *	header = `nullptr`
	)

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, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, and tutorial-hsv-segmentation.cpp.

Definition at line 767 of file vpArray2D.h.

◆ operator!=()

bool operator!= ( const vpArray2D< Type > & A ) const

inherited

Not equal to comparison operator of a 2D array.

Definition at line 509 of file vpArray2D.h.

◆ operator*() [1/3]

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(); // 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::dimensionError If $\bf H$ is not a 6 dimension vector.

Definition at line 361 of file vpForceTwistMatrix.cpp.

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

◆ operator*() [2/3]

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 272 of file vpForceTwistMatrix.cpp.

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

◆ operator*() [3/3]

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 295 of file vpForceTwistMatrix.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), 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 57 of file vpForceTwistMatrix.cpp.

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

◆ operator==()

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

inherited

Equal to comparison operator of a 2D array.

Definition at line 505 of file vpArray2D.h.

◆ operator[]() [1/2]

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

inlineinherited

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

Definition at line 591 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 593 of file vpArray2D.h.

◆ print()

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

s	Stream used for the printing.
length	The suggested width of each matrix element. The actual width grows in order to accommodate 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.

Returns: Returns the common total width for all matrix elements

See also: std::ostream &operator <<(ostream &s,const vpMatrix &m)

Definition at line 554 of file vpForceTwistMatrix.cpp.

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

◆ reshape()

void vpArray2D< double >::reshape	(	unsigned int	nrows,
		unsigned int	ncols
	)

inlineinherited

Examples: testMatrixInitialization.cpp.

Definition at line 443 of file vpArray2D.h.

◆ 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::fatalError When this function is called.

Definition at line 205 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.

Examples: testArray2D.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 352 of file vpArray2D.h.

◆ save()

static bool vpArray2D< double >::save	(	const std::string &	filename,
		const vpArray2D< Type > &	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 855 of file vpArray2D.h.

◆ saveYAML()

static bool vpArray2D< double >::saveYAML	(	const std::string &	filename,
		const vpArray2D< Type > &	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()

Definition at line 950 of file vpArray2D.h.

◆ 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 653 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, testMatrix.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRotation.cpp, testRowVector.cpp, testTranslationVector.cpp, testTukeyEstimator.cpp, testUniversalRobotsGetData.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 339 of file vpArray2D.h.

◆ t()

vpArray2D< double > vpArray2D< double >::t

inherited

Compute the transpose of the array.

Returns: vpArray2D<Type> C = A^T

Definition at line 632 of file vpArray2D.h.

Friends And Related Function Documentation

◆ insert()

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		vpArray2D< Type > &	C,
		unsigned int	r,
		unsigned int	c
	)

Parameters

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.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1072 of file vpArray2D.h.

◆ operator!=()

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

◆ operator==() [1/2]

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

◆ operator==() [2/2]

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

◆ 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`
	)

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);

vpArray2D< double >::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)

Definition: vpGEMM.h:388

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::incorrectMatrixSizeError if 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 388 of file vpGEMM.h.

◆ vpGEMMmethod

enum vpGEMMmethod

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 52 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 131 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data

inherited

Address of the first element of the data array.

Examples: testArray2D.cpp, testDisplacement.cpp, testMatrix.cpp, testQuaternion.cpp, testRotation.cpp, testTranslationVector.cpp, testUniversalRobotsGetData.cpp, tutorial-bridge-opencv-matrix.cpp, and tutorial-matlab.cpp.

Definition at line 139 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

Current array size (rowNum * colNum)

Definition at line 135 of file vpArray2D.h.

◆ rowNum

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 129 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 133 of file vpArray2D.h.

Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpForceTwistMatrix() [1/8]

◆ vpForceTwistMatrix() [2/8]

◆ vpForceTwistMatrix() [3/8]

◆ vpForceTwistMatrix() [4/8]

◆ vpForceTwistMatrix() [5/8]

◆ vpForceTwistMatrix() [6/8]

◆ vpForceTwistMatrix() [7/8]

◆ vpForceTwistMatrix() [8/8]

Member Function Documentation

◆ buildFrom() [1/5]

◆ buildFrom() [2/5]

◆ buildFrom() [3/5]

◆ buildFrom() [4/5]

◆ buildFrom() [5/5]

◆ conv2() [1/2]

◆ conv2() [2/2]

◆ eye()

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ hadamard()

◆ init()

◆ insert() [1/2]

◆ insert() [2/2]

◆ load()

◆ loadYAML()

◆ operator!=()

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ print()

◆ reshape()

◆ resize() [1/2]

◆ resize() [2/2]

◆ save()

◆ saveYAML()

◆ setIdentity()

◆ size()

◆ t()

Friends And Related Function Documentation

◆ insert()

◆ operator!=()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ vpGEMM()

◆ vpGEMMmethod

Member Data Documentation

◆ colNum

◆ data

◆ dsize

◆ rowNum

◆ rowPtrs