Visual Servoing Platform  version 3.6.1 under development (2023-11-30)
vpVelocityTwistMatrix.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
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8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Velocity twist transformation matrix.
32  */
33 
34 #ifndef vpVelocityTwistMatrix_h
35 #define vpVelocityTwistMatrix_h
36 
37 #include <visp3/core/vpArray2D.h>
38 #include <visp3/core/vpColVector.h>
39 #include <visp3/core/vpHomogeneousMatrix.h>
40 #include <visp3/core/vpMatrix.h>
41 #include <visp3/core/vpRotationMatrix.h>
42 
44 class vpColVector;
45 
160 class VISP_EXPORT vpVelocityTwistMatrix : public vpArray2D<double>
161 {
162  friend class vpMatrix;
163 
164 public:
165  // basic constructor
167  // copy constructor
169  // constructor from an homogeneous transformation
170  explicit vpVelocityTwistMatrix(const vpHomogeneousMatrix &M, bool full = true);
171 
172  // Construction from Translation and rotation (matrix parameterization)
174  // Construction from Translation and rotation (ThetaU parameterization)
176  vpVelocityTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
177 
179  vpVelocityTwistMatrix(const vpThetaUVector &thetau);
180 
181  vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
182  vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpThetaUVector &thetau);
183  vpVelocityTwistMatrix buildFrom(const vpHomogeneousMatrix &M, bool full = true);
184  vpVelocityTwistMatrix buildFrom(const vpRotationMatrix &R);
185  vpVelocityTwistMatrix buildFrom(const vpThetaUVector &thetau);
186 
187  void extract(vpRotationMatrix &R) const;
188  void extract(vpTranslationVector &t) const;
189 
190  // Basic initialisation (identity)
191  void eye();
192 
193  vpVelocityTwistMatrix inverse() const;
194  void inverse(vpVelocityTwistMatrix &V) const;
195 
197  vpMatrix operator*(const vpMatrix &M) const;
198  vpColVector operator*(const vpColVector &v) const;
199 
201 
202  int print(std::ostream &s, unsigned int length, char const *intro = 0) const;
203 
209  void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
210  {
211  (void)nrows;
212  (void)ncols;
213  (void)flagNullify;
214  throw(vpException(vpException::fatalError, "Cannot resize a velocity twist matrix"));
215  }
216 
217 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
226  vp_deprecated void init() { }
230  vp_deprecated void setIdentity();
232 #endif
233 };
234 
235 #endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:125
vpArray2D< Type > & operator=(Type x)
Set all the elements of the array to x.
Definition: vpArray2D.h:422
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ fatalError
Fatal error.
Definition: vpException.h:84
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
vp_deprecated void setIdentity(const double &val=1.0)
Definition: vpMatrix.cpp:6879
int print(std::ostream &s, unsigned int length, const std::string &intro="") const
Definition: vpMatrix.cpp:5595
void eye()
Definition: vpMatrix.cpp:437
vpMatrix operator*(const vpMatrix &B) const
Definition: vpMatrix.cpp:1153
vpMatrix t() const
Definition: vpMatrix.cpp:452
vpMatrix extract(unsigned int r, unsigned int c, unsigned int nrows, unsigned int ncols) const
Definition: vpMatrix.cpp:395
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.
vp_deprecated void init()
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)