Visual Servoing Platform
version 3.6.1 under development (2024-10-13)
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#include <visp3/core/vpVelocityTwistMatrix.h>
Public Member Functions | |
vpVelocityTwistMatrix () | |
vpVelocityTwistMatrix (const vpVelocityTwistMatrix &V) | |
VP_EXPLICIT | vpVelocityTwistMatrix (const vpHomogeneousMatrix &M, bool full=true) |
vpVelocityTwistMatrix (const vpTranslationVector &t, const vpRotationMatrix &R) | |
vpVelocityTwistMatrix (const vpTranslationVector &t, const vpThetaUVector &thetau) | |
vpVelocityTwistMatrix (double tx, double ty, double tz, double tux, double tuy, double tuz) | |
VP_EXPLICIT | vpVelocityTwistMatrix (const vpRotationMatrix &R) |
VP_EXPLICIT | vpVelocityTwistMatrix (const vpThetaUVector &thetau) |
vpVelocityTwistMatrix & | buildFrom (const vpTranslationVector &t, const vpRotationMatrix &R) |
vpVelocityTwistMatrix & | buildFrom (const vpTranslationVector &t, const vpThetaUVector &thetau) |
vpVelocityTwistMatrix & | buildFrom (const vpHomogeneousMatrix &M, bool full=true) |
vpVelocityTwistMatrix & | buildFrom (const vpRotationMatrix &R) |
vpVelocityTwistMatrix & | buildFrom (const vpThetaUVector &thetau) |
void | extract (vpRotationMatrix &R) const |
void | extract (vpTranslationVector &t) const |
void | eye () |
vpVelocityTwistMatrix | inverse () const |
void | inverse (vpVelocityTwistMatrix &V) const |
vpVelocityTwistMatrix | operator* (const vpVelocityTwistMatrix &V) const |
vpMatrix | operator* (const vpMatrix &M) const |
vpColVector | operator* (const vpColVector &v) const |
vpVelocityTwistMatrix & | operator= (const vpVelocityTwistMatrix &V) |
int | print (std::ostream &s, unsigned int length, char const *intro=0) const |
void | resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true) |
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 |
Friends | |
class | vpMatrix |
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) |
unsigned int | rowNum |
unsigned int | colNum |
double ** | rowPtrs |
unsigned int | dsize |
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) |
This class derived from vpArray2D<double> implements the 6 by 6 matrix which transforms velocities from one frame to another. This matrix is also called velocity twist transformation matrix.
The full velocity twist transformation matrix allows to compute the velocity at point a expressed in frame a knowing its velocity 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 velocity 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 velocity at point b expressed in frame a knowing its velocity at point b expressed in frame b :
To initialize such a velocity twist matrix where translation is not taken into account you can proceed like in the following code:
It produces the following printings:
The code below shows how to convert a velocity skew expressed at the origin of the camera frame into the origin of the fix frame using the full velocity twist matrix.
Definition at line 174 of file vpVelocityTwistMatrix.h.
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | ) |
Initialize a velocity twist transformation matrix as identity.
Definition at line 87 of file vpVelocityTwistMatrix.cpp.
References eye().
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpVelocityTwistMatrix & | V | ) |
Initialize a velocity twist transformation matrix from another velocity twist matrix.
V | : Velocity twist matrix used as initializer. |
Definition at line 95 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpHomogeneousMatrix & | M, |
bool | full = true |
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) |
Initialize a velocity 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 115 of file vpVelocityTwistMatrix.cpp.
References buildFrom(), and vpHomogeneousMatrix::getRotationMatrix().
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpTranslationVector & | t, |
const vpRotationMatrix & | R | ||
) |
Initialize a velocity twist transformation matrix from a translation vector t and a rotation matrix R.
t | : Translation vector. |
R | : Rotation matrix. |
Definition at line 175 of file vpVelocityTwistMatrix.cpp.
References buildFrom(), and vpArray2D< double >::t().
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpTranslationVector & | t, |
const vpThetaUVector & | thetau | ||
) |
Initialize a velocity twist transformation matrix from a translation vector t and a rotation vector with parametrization.
t | : Translation vector. |
thetau | : rotation vector used to initialize rotation vector . |
Definition at line 139 of file vpVelocityTwistMatrix.cpp.
References buildFrom(), and vpArray2D< double >::t().
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | double | tx, |
double | ty, | ||
double | tz, | ||
double | tux, | ||
double | tuy, | ||
double | tuz | ||
) |
Initialize a velocity 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 209 of file vpVelocityTwistMatrix.cpp.
References buildFrom(), and vpArray2D< double >::t().
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpRotationMatrix & | R | ) |
Initialize a velocity twist transformation matrix from a rotation matrix R.
R | : Rotation matrix. |
Definition at line 192 of file vpVelocityTwistMatrix.cpp.
References buildFrom().
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpThetaUVector & | thetau | ) |
Initialize a velocity twist transformation matrix from a rotation vector with parametrization.
thetau | : rotation vector used to initialize rotation vector . |
Definition at line 157 of file vpVelocityTwistMatrix.cpp.
References buildFrom().
vpVelocityTwistMatrix & vpVelocityTwistMatrix::buildFrom | ( | const vpHomogeneousMatrix & | M, |
bool | full = true |
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) |
Initialize a velocity 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 449 of file vpVelocityTwistMatrix.cpp.
References buildFrom(), vpHomogeneousMatrix::getRotationMatrix(), and vpHomogeneousMatrix::getTranslationVector().
vpVelocityTwistMatrix & vpVelocityTwistMatrix::buildFrom | ( | const vpRotationMatrix & | R | ) |
Build a velocity twist transformation block diagonal matrix from a rotation matrix R.
R | : Rotation matrix. |
Definition at line 349 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix & vpVelocityTwistMatrix::buildFrom | ( | const vpThetaUVector & | thetau | ) |
Initialize a velocity twist transformation matrix from a rotation vector with parametrization.
thetau | : rotation vector used to create rotation matrix . |
Definition at line 425 of file vpVelocityTwistMatrix.cpp.
References buildFrom().
vpVelocityTwistMatrix & vpVelocityTwistMatrix::buildFrom | ( | const vpTranslationVector & | t, |
const vpRotationMatrix & | R | ||
) |
Build a velocity twist transformation matrix from a translation vector t and a rotation matrix R.
t | : Translation vector. |
R | : Rotation matrix. |
Definition at line 376 of file vpVelocityTwistMatrix.cpp.
References vpArray2D< double >::t().
Referenced by buildFrom(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbTracker::computeVVSPoseEstimation(), vpRobotFlirPtu::get_cVe(), vpUnicycle::get_cVe(), vpPtu46::get_cVe(), vpRobotAfma6::get_cVe(), vpRobotPtu46::get_cVe(), vpAfma4::get_cVe(), vpAfma6::get_cVe(), vpBiclops::get_cVe(), vpRobotAfma4::get_cVe(), vpRobotBiclops::get_cVe(), vpRobotViper650::get_cVe(), vpRobotViper850::get_cVe(), vpViper::get_cVe(), vpAfma4::get_cVf(), inverse(), vpRobotAfma4::setVelocity(), and vpVelocityTwistMatrix().
vpVelocityTwistMatrix & vpVelocityTwistMatrix::buildFrom | ( | const vpTranslationVector & | t, |
const vpThetaUVector & | thetau | ||
) |
Initialize a velocity twist transformation matrix from a translation vector t and a rotation vector with parametrization.
t | : Translation vector. |
thetau | : rotation vector used to create rotation matrix . |
Definition at line 407 of file vpVelocityTwistMatrix.cpp.
References buildFrom(), and vpArray2D< double >::t().
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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 1050 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 1064 of file vpArray2D.h.
void vpVelocityTwistMatrix::extract | ( | vpRotationMatrix & | R | ) | const |
Extract the rotation matrix from the velocity twist matrix.
Definition at line 481 of file vpVelocityTwistMatrix.cpp.
void vpVelocityTwistMatrix::extract | ( | vpTranslationVector & | t | ) | const |
Extract the translation vector from the velocity twist matrix.
Definition at line 492 of file vpVelocityTwistMatrix.cpp.
References extract(), and vpRotationMatrix::t().
void vpVelocityTwistMatrix::eye | ( | ) |
Initialize a 6x6 velocity twist matrix as identity.
Definition at line 69 of file vpVelocityTwistMatrix.cpp.
Referenced by vpVelocityTwistMatrix().
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inlineinherited |
Return the number of columns of the 2D array.
Definition at line 337 of file vpArray2D.h.
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inherited |
Return the array max value.
Definition at line 339 of file vpArray2D.h.
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inherited |
Return the array min value.
Definition at line 341 of file vpArray2D.h.
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inlineinherited |
Return the number of rows of the 2D array.
Definition at line 347 of file vpArray2D.h.
Compute the Hadamard product (element wise matrix multiplication).
m | : Second matrix; |
Definition at line 638 of file vpArray2D.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 1078 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 494 of file vpArray2D.h.
vpVelocityTwistMatrix vpVelocityTwistMatrix::inverse | ( | ) | const |
Invert the velocity twist matrix.
Definition at line 462 of file vpVelocityTwistMatrix.cpp.
References buildFrom(), extract(), and vpRotationMatrix::t().
Referenced by inverse().
void vpVelocityTwistMatrix::inverse | ( | vpVelocityTwistMatrix & | V | ) | const |
Invert the velocity twist matrix.
Definition at line 478 of file vpVelocityTwistMatrix.cpp.
References inverse().
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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 666 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 780 of file vpArray2D.h.
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inherited |
Not equal to comparison operator of a 2D array.
Definition at line 520 of file vpArray2D.h.
vpColVector vpVelocityTwistMatrix::operator* | ( | const vpColVector & | v | ) | const |
Operator that allows to multiply a twist transformation matrix by a 6-dimension column vector.
v | : Velocity skew vector. |
vpException::dimensionError | If v is not a 6 dimension column vector. |
Definition at line 315 of file vpVelocityTwistMatrix.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), and vpArray2D< double >::rowPtrs.
Operator that allows to multiply a velocity twist transformation matrix by a matrix.
As shown in the example below, this operator can be used to compute the corresponding camera velocity skew from the joint velocities knowing the robot jacobian.
vpException::dimensionError | If M is not a 6 rows dimension matrix. |
Definition at line 282 of file vpVelocityTwistMatrix.cpp.
References vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and vpArray2D< double >::rowPtrs.
vpVelocityTwistMatrix vpVelocityTwistMatrix::operator* | ( | const vpVelocityTwistMatrix & | V | ) | const |
Operator that allows to multiply a velocity twist transformation matrix by an other velocity twist transformation matrix.
Definition at line 223 of file vpVelocityTwistMatrix.cpp.
References vpArray2D< Type >::rowPtrs, and vpArray2D< double >::rowPtrs.
BEGIN_VISP_NAMESPACE vpVelocityTwistMatrix & vpVelocityTwistMatrix::operator= | ( | const vpVelocityTwistMatrix & | V | ) |
Copy operator that allow to set a velocity twist matrix from an other one.
V | : Velocity twist matrix to copy. |
Definition at line 55 of file vpVelocityTwistMatrix.cpp.
References vpArray2D< Type >::rowPtrs, and vpArray2D< double >::rowPtrs.
Equal to comparison operator of a 2D array.
Definition at line 516 of file vpArray2D.h.
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inlineinherited |
Set element using A[i][j] = x.
Definition at line 602 of file vpArray2D.h.
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inlineinherited |
Get element using x = A[i][j].
Definition at line 604 of file vpArray2D.h.
int vpVelocityTwistMatrix::print | ( | std::ostream & | s, |
unsigned int | length, | ||
char const * | intro = 0 |
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) | const |
Pretty print a velocity 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 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. |
Definition at line 532 of file vpVelocityTwistMatrix.cpp.
References vpArray2D< double >::getCols(), vpArray2D< double >::getRows(), vpMath::maximum(), and vpArray2D< double >::size().
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Definition at line 453 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 223 of file vpVelocityTwistMatrix.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 362 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 871 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 969 of file vpArray2D.h.
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inlineinherited |
Return the number of elements of the 2D array.
Definition at line 349 of file vpArray2D.h.
Compute the transpose of the array.
Definition at line 645 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 1093 of file vpArray2D.h.
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related |
Definition at line 1348 of file vpArray2D.h.
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related |
Definition at line 1310 of file vpArray2D.h.
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related |
Definition at line 1329 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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friend |
Definition at line 176 of file vpVelocityTwistMatrix.h.
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protectedinherited |
Number of columns in the array.
Definition at line 1100 of file vpArray2D.h.
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inherited |
Address of the first element of the data array.
Definition at line 148 of file vpArray2D.h.
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protectedinherited |
Current array size (rowNum * colNum)
Definition at line 1104 of file vpArray2D.h.
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protectedinherited |
Number of rows in the array.
Definition at line 1098 of file vpArray2D.h.
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protectedinherited |
Address of the first element of each rows.
Definition at line 1102 of file vpArray2D.h.