Visual Servoing Platform  version 3.4.1 under development (2021-10-17)
testTwistMatrix.cpp
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30  *
31  * Description:
32  * Tests some vpMatrix functionalities.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
45 #include <visp3/core/vpConfig.h>
46 #include <visp3/core/vpDebug.h>
47 
48 #include <stdio.h>
49 #include <stdlib.h>
50 
51 #include <visp3/core/vpColVector.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/core/vpMatrix.h>
54 #include <visp3/core/vpRotationMatrix.h>
55 #include <visp3/core/vpRxyzVector.h>
56 #include <visp3/core/vpTranslationVector.h>
57 #include <visp3/core/vpVelocityTwistMatrix.h>
58 
59 int main()
60 {
61  try {
62  vpTRACE("--------------------------");
63  vpTRACE("--- TEST vpVelocityTwistMatrix ---");
64  vpTRACE("--------------------------");
65 
66  // Set the translation
68  cte[0] = 1.;
69  cte[1] = 0.5;
70  cte[2] = -1.;
71 
72  // Set the rotation
73  vpRxyzVector cre;
74  cre[0] = M_PI / 2.;
75  cre[1] = -M_PI / 2.;
76  cre[2] = -M_PI / 4.;
77 
78  // Build rotation matrix
79  vpRotationMatrix cRe(cre);
80 
81  // Build the twist matrix
82  vpVelocityTwistMatrix cVe(cte, cRe);
83 
84  vpTRACE("cVe twist matrix:");
85  cVe.print(std::cout, 6);
86 
87  // Set a speed skew
88  vpColVector ev(6);
89 
90  ev[0] = 1.;
91  ev[1] = 0.1;
92  ev[2] = -0.5;
93  ev[3] = M_PI / 180.;
94  ev[4] = M_PI / 18.;
95  ev[5] = M_PI / 10.;
96 
97  vpTRACE("ev colvector:");
98  ev.print(std::cout, 6);
99 
100  // Set a speed skew
101  vpColVector cv;
102 
103  cv = cVe * ev;
104 
105  vpTRACE("cv = cVe * ev:");
106  cv.print(std::cout, 6);
107  return 0;
108  } catch (const vpException &e) {
109  std::cout << "Catch an exception: " << e << std::endl;
110  return 1;
111  }
112 }
error that can be emited by ViSP classes.
Definition: vpException.h:71
Implementation of a rotation matrix and operations on such kind of matrices.
#define vpTRACE
Definition: vpDebug.h:416
int print(std::ostream &s, unsigned int length, char const *intro=0) const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
Class that consider the case of a translation vector.