Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
vpForceTwistMatrix.cpp
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Twist transformation matrix that allows to transform forces from one
33  * frame to an other.
34  *
35  * Authors:
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #include <assert.h>
41 #include <sstream>
42 
43 #include <visp3/core/vpDebug.h>
44 #include <visp3/core/vpException.h>
45 #include <visp3/core/vpForceTwistMatrix.h>
46 
61 {
62  for (int i = 0; i < 6; i++) {
63  for (int j = 0; j < 6; j++) {
64  rowPtrs[i][j] = M.rowPtrs[i][j];
65  }
66  }
67 
68  return *this;
69 }
70 
75 {
76  for (unsigned int i = 0; i < 6; i++) {
77  for (unsigned int j = 0; j < 6; j++) {
78  if (i == j)
79  (*this)[i][j] = 1.0;
80  else
81  (*this)[i][j] = 0.0;
82  }
83  }
84 }
85 
90 
99 
130 {
131  if (full)
132  buildFrom(M);
133  else
135 }
136 
157  : vpArray2D<double>(6, 6)
158 {
159  buildFrom(t, thetau);
160 }
161 
180 
201  : vpArray2D<double>(6, 6)
202 {
203  buildFrom(t, R);
204 }
205 
224 
245 vpForceTwistMatrix::vpForceTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz)
246  : vpArray2D<double>(6, 6)
247 {
248  vpTranslationVector T(tx, ty, tz);
249  vpThetaUVector tu(tux, tuy, tuz);
250  buildFrom(T, tu);
251 }
252 
272 {
273  vpForceTwistMatrix Fout;
274 
275  for (unsigned int i = 0; i < 6; i++) {
276  for (unsigned int j = 0; j < 6; j++) {
277  double s = 0;
278  for (unsigned int k = 0; k < 6; k++)
279  s += rowPtrs[i][k] * F.rowPtrs[k][j];
280  Fout[i][j] = s;
281  }
282  }
283  return Fout;
284 }
285 
294 {
295 
296  if (6 != M.getRows()) {
298  "Cannot multiply (6x6) force/torque twist matrix by a (%dx%d) matrix", M.getRows(), M.getCols()));
299  }
300 
301  vpMatrix p(6, M.getCols());
302  for (unsigned int i = 0; i < 6; i++) {
303  for (unsigned int j = 0; j < M.getCols(); j++) {
304  double s = 0;
305  for (unsigned int k = 0; k < 6; k++)
306  s += rowPtrs[i][k] * M[k][j];
307  p[i][j] = s;
308  }
309  }
310  return p;
311 }
312 
358 {
359  vpColVector Hout(6);
360 
361  if (6 != H.getRows()) {
363  "Cannot multiply a (6x6) force/torque twist matrix by "
364  "a %d dimension column vector",
365  H.getRows()));
366  }
367 
368  Hout = 0.0;
369 
370  for (unsigned int i = 0; i < 6; i++) {
371  for (unsigned int j = 0; j < 6; j++) {
372  Hout[i] += rowPtrs[i][j] * H[j];
373  }
374  }
375 
376  return Hout;
377 }
378 
399 {
400  vpMatrix skewaR = t.skew(t) * R;
401 
402  for (unsigned int i = 0; i < 3; i++) {
403  for (unsigned int j = 0; j < 3; j++) {
404  (*this)[i][j] = R[i][j];
405  (*this)[i + 3][j + 3] = R[i][j];
406  (*this)[i + 3][j] = skewaR[i][j];
407  }
408  }
409  return (*this);
410 }
411 
430 {
431  for (unsigned int i = 0; i < 3; i++) {
432  for (unsigned int j = 0; j < 3; j++) {
433  (*this)[i][j] = R[i][j];
434  (*this)[i + 3][j + 3] = R[i][j];
435  (*this)[i + 3][j] = 0;
436  }
437  }
438  return (*this);
439 }
440 
462 {
463  buildFrom(tv, vpRotationMatrix(thetau));
464  return (*this);
465 }
466 
486 {
487  buildFrom(vpRotationMatrix(thetau));
488  return (*this);
489 }
490 
520 {
521  if (full)
523  else
525 
526  return (*this);
527 }
528 
548 int vpForceTwistMatrix::print(std::ostream &s, unsigned int length, char const *intro) const
549 {
550  typedef std::string::size_type size_type;
551 
552  unsigned int m = getRows();
553  unsigned int n = getCols();
554 
555  std::vector<std::string> values(m * n);
556  std::ostringstream oss;
557  std::ostringstream ossFixed;
558  std::ios_base::fmtflags original_flags = oss.flags();
559 
560  // ossFixed <<std::fixed;
561  ossFixed.setf(std::ios::fixed, std::ios::floatfield);
562 
563  size_type maxBefore = 0; // the length of the integral part
564  size_type maxAfter = 0; // number of decimals plus
565  // one place for the decimal point
566  for (unsigned int i = 0; i < m; ++i) {
567  for (unsigned int j = 0; j < n; ++j) {
568  oss.str("");
569  oss << (*this)[i][j];
570  if (oss.str().find("e") != std::string::npos) {
571  ossFixed.str("");
572  ossFixed << (*this)[i][j];
573  oss.str(ossFixed.str());
574  }
575 
576  values[i * n + j] = oss.str();
577  size_type thislen = values[i * n + j].size();
578  size_type p = values[i * n + j].find('.');
579 
580  if (p == std::string::npos) {
581  maxBefore = vpMath::maximum(maxBefore, thislen);
582  // maxAfter remains the same
583  } else {
584  maxBefore = vpMath::maximum(maxBefore, p);
585  maxAfter = vpMath::maximum(maxAfter, thislen - p - 1);
586  }
587  }
588  }
589 
590  size_type totalLength = length;
591  // increase totalLength according to maxBefore
592  totalLength = vpMath::maximum(totalLength, maxBefore);
593  // decrease maxAfter according to totalLength
594  maxAfter = (std::min)(maxAfter, totalLength - maxBefore);
595  if (maxAfter == 1)
596  maxAfter = 0;
597 
598  // the following line is useful for debugging
599  // std::cerr <<totalLength <<" " <<maxBefore <<" " <<maxAfter <<"\n";
600 
601  if (intro)
602  s << intro;
603  s << "[" << m << "," << n << "]=\n";
604 
605  for (unsigned int i = 0; i < m; i++) {
606  s << " ";
607  for (unsigned int j = 0; j < n; j++) {
608  size_type p = values[i * n + j].find('.');
609  s.setf(std::ios::right, std::ios::adjustfield);
610  s.width((std::streamsize)maxBefore);
611  s << values[i * n + j].substr(0, p).c_str();
612 
613  if (maxAfter > 0) {
614  s.setf(std::ios::left, std::ios::adjustfield);
615  if (p != std::string::npos) {
616  s.width((std::streamsize)maxAfter);
617  s << values[i * n + j].substr(p, maxAfter).c_str();
618  } else {
619  assert(maxAfter > 1);
620  s.width((std::streamsize)maxAfter);
621  s << ".0";
622  }
623  }
624 
625  s << ' ';
626  }
627  s << std::endl;
628  }
629 
630  s.flags(original_flags); // restore s to standard state
631 
632  return (int)(maxBefore + maxAfter);
633 }
634 
635 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
636 
644 
645 #endif //#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
vpForceTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpForceTwistMatrix operator*(const vpForceTwistMatrix &F) const
vpForceTwistMatrix & operator=(const vpForceTwistMatrix &H)
error that can be emited by ViSP classes.
Definition: vpException.h:71
unsigned int getRows() const
Definition: vpArray2D.h:289
Implementation of a generic 2D array used as base class for matrices and vectors. ...
Definition: vpArray2D.h:131
vp_deprecated void setIdentity()
static Type maximum(const Type &a, const Type &b)
Definition: vpMath.h:145
Implementation of a rotation matrix and operations on such kind of matrices.
unsigned int getCols() const
Definition: vpArray2D.h:279
vpTranslationVector getTranslationVector() const
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
Class that consider the case of a translation vector.
Implementation of a rotation vector as axis-angle minimal representation.
double ** rowPtrs
Address of the first element of each rows.
Definition: vpArray2D.h:139
vpRotationMatrix getRotationMatrix() const