Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
vpForceTwistMatrix.h
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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 #ifndef vpForceTwistMatrix_h
41 #define vpForceTwistMatrix_h
42 
43 #include <visp3/core/vpArray2D.h>
44 #include <visp3/core/vpColVector.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpRotationMatrix.h>
47 
166 class VISP_EXPORT vpForceTwistMatrix : public vpArray2D<double>
167 {
168 public:
169  // basic constructor
171  // copy constructor
173  // constructor from an homogeneous transformation
174  explicit vpForceTwistMatrix(const vpHomogeneousMatrix &M, bool full = true);
175 
176  // Construction from Translation and rotation (matrix parameterization)
178  // Construction from Translation and rotation (ThetaU parameterization)
179  vpForceTwistMatrix(const vpTranslationVector &t, const vpThetaUVector &thetau);
180  vpForceTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
181 
183  vpForceTwistMatrix(const vpThetaUVector &thetau);
184 
188  virtual ~vpForceTwistMatrix(){};
189 
190  vpForceTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
191  vpForceTwistMatrix buildFrom(const vpTranslationVector &t, const vpThetaUVector &thetau);
192  vpForceTwistMatrix buildFrom(const vpHomogeneousMatrix &M, bool full = true);
193 
194  vpForceTwistMatrix buildFrom(const vpRotationMatrix &R);
195  vpForceTwistMatrix buildFrom(const vpThetaUVector &thetau);
196 
197  // Basic initialisation (identity)
198  void eye();
199 
201  vpMatrix operator*(const vpMatrix &M) const;
202 
203  vpColVector operator*(const vpColVector &H) const;
204 
205  // copy operator from vpMatrix (handle with care)
207 
208  int print(std::ostream &s, unsigned int length, char const *intro = 0) const;
209 
215  void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
216  {
217  (void)nrows;
218  (void)ncols;
219  (void)flagNullify;
220  throw(vpException(vpException::fatalError, "Cannot resize a velocity twist matrix"));
221  };
222 
223 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
224 
232  vp_deprecated void init(){};
236  vp_deprecated void setIdentity();
238 #endif
239 };
240 
241 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
vpArray2D< Type > & operator=(Type x)
Set all the elements of the array to x.
Definition: vpArray2D.h:413
Implementation of an homogeneous matrix and operations on such kind of matrices.
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)
error that can be emited by ViSP classes.
Definition: vpException.h:71
Implementation of a generic 2D array used as base class for matrices and vectors. ...
Definition: vpArray2D.h:131
Implementation of a rotation matrix and operations on such kind of matrices.
vpColVector operator*(const double &x, const vpColVector &v)
vp_deprecated void init()
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.