Visual Servoing Platform  version 3.3.1 under development (2020-08-10)
vpVelocityTwistMatrix.h
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30  *
31  * Description:
32  * Velocity twist transformation matrix.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpVelocityRwistMatrix_h
41 #define vpVelocityRwistMatrix_h
42 
43 #include <visp3/core/vpArray2D.h>
44 #include <visp3/core/vpColVector.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpMatrix.h>
47 #include <visp3/core/vpRotationMatrix.h>
48 
50 class vpColVector;
51 
166 class VISP_EXPORT vpVelocityTwistMatrix : public vpArray2D<double>
167 {
168  friend class vpMatrix;
169 
170 public:
171  // basic constructor
173  // copy constructor
175  // constructor from an homogeneous transformation
176  explicit vpVelocityTwistMatrix(const vpHomogeneousMatrix &M, bool full = true);
177 
178  // Construction from Translation and rotation (matrix parameterization)
180  // Construction from Translation and rotation (ThetaU parameterization)
182  vpVelocityTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
183 
185  vpVelocityTwistMatrix(const vpThetaUVector &thetau);
186 
191 
192  vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
193  vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpThetaUVector &thetau);
194  vpVelocityTwistMatrix buildFrom(const vpHomogeneousMatrix &M, bool full = true);
195  vpVelocityTwistMatrix buildFrom(const vpRotationMatrix &R);
196  vpVelocityTwistMatrix buildFrom(const vpThetaUVector &thetau);
197 
198  void extract(vpRotationMatrix &R) const;
199  void extract(vpTranslationVector &t) const;
200 
201  // Basic initialisation (identity)
202  void eye();
203 
204  vpVelocityTwistMatrix inverse() const;
205  void inverse(vpVelocityTwistMatrix &V) const;
206 
208  vpMatrix operator*(const vpMatrix &M) const;
209  vpColVector operator*(const vpColVector &v) const;
210 
212 
213  int print(std::ostream &s, unsigned int length, char const *intro = 0) const;
214 
220  void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
221  {
222  (void)nrows;
223  (void)ncols;
224  (void)flagNullify;
225  throw(vpException(vpException::fatalError, "Cannot resize a velocity twist matrix"));
226  };
227 
228 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
229 
237  vp_deprecated void init(){};
241  vp_deprecated void setIdentity();
243 #endif
244 };
245 
246 #endif
vpMatrix extract(unsigned int r, unsigned int c, unsigned int nrows, unsigned int ncols) const
Definition: vpMatrix.cpp:495
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:414
Implementation of an homogeneous matrix and operations on such kind of matrices.
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.
vpMatrix t() const
Definition: vpMatrix.cpp:552
vp_deprecated void setIdentity(const double &val=1.0)
Definition: vpMatrix.cpp:5594
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)
int print(std::ostream &s, unsigned int length, const std::string &intro="") const
Definition: vpMatrix.cpp:4339
vp_deprecated void init()
vpMatrix operator*(const vpMatrix &B) const
Definition: vpMatrix.cpp:1301
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Class that consider the case of a translation vector.
void eye()
Definition: vpMatrix.cpp:537
Implementation of a rotation vector as axis-angle minimal representation.