Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
testTwistMatrix.cpp
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31  * Description:
32  * Tests some vpMatrix functionalities.
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34 *****************************************************************************/
35 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpDebug.h>
44 
45 #include <stdio.h>
46 #include <stdlib.h>
47 
48 #include <visp3/core/vpColVector.h>
49 #include <visp3/core/vpMath.h>
50 #include <visp3/core/vpMatrix.h>
51 #include <visp3/core/vpRotationMatrix.h>
52 #include <visp3/core/vpRxyzVector.h>
53 #include <visp3/core/vpTranslationVector.h>
54 #include <visp3/core/vpVelocityTwistMatrix.h>
55 
56 int main()
57 {
58  try {
59  vpTRACE("--------------------------");
60  vpTRACE("--- TEST vpVelocityTwistMatrix ---");
61  vpTRACE("--------------------------");
62 
63  // Set the translation
65  cte[0] = 1.;
66  cte[1] = 0.5;
67  cte[2] = -1.;
68 
69  // Set the rotation
70  vpRxyzVector cre;
71  cre[0] = M_PI / 2.;
72  cre[1] = -M_PI / 2.;
73  cre[2] = -M_PI / 4.;
74 
75  // Build rotation matrix
76  vpRotationMatrix cRe(cre);
77 
78  // Build the twist matrix
79  vpVelocityTwistMatrix cVe(cte, cRe);
80 
81  vpTRACE("cVe twist matrix:");
82  cVe.print(std::cout, 6);
83 
84  // Set a speed skew
85  vpColVector ev(6);
86 
87  ev[0] = 1.;
88  ev[1] = 0.1;
89  ev[2] = -0.5;
90  ev[3] = M_PI / 180.;
91  ev[4] = M_PI / 18.;
92  ev[5] = M_PI / 10.;
93 
94  vpTRACE("ev colvector:");
95  ev.print(std::cout, 6);
96 
97  // Set a speed skew
98  vpColVector cv;
99 
100  cv = cVe * ev;
101 
102  vpTRACE("cv = cVe * ev:");
103  cv.print(std::cout, 6);
104  return EXIT_SUCCESS;
105  } catch (const vpException &e) {
106  std::cout << "Catch an exception: " << e << std::endl;
107  return EXIT_FAILURE;
108  }
109 }
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
int print(std::ostream &s, unsigned int length, char const *intro=0) const
error that can be emitted by ViSP classes.
Definition: vpException.h:59
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
Class that consider the case of a translation vector.
#define vpTRACE
Definition: vpDebug.h:405