Visual Servoing Platform version 3.5.0
vpVelocityTwistMatrix.h
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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26 * Inria at visp@inria.fr
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28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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
50class vpColVector;
51
166class VISP_EXPORT vpVelocityTwistMatrix : public vpArray2D<double>
167{
168 friend class vpMatrix;
169
170public:
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
186
191
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)
237 vp_deprecated void init(){};
241 vp_deprecated void setIdentity();
243#endif
244};
245
246#endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:132
vpArray2D< Type > & operator=(Type x)
Set all the elements of the array to x.
Definition: vpArray2D.h:413
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ fatalError
Fatal error.
Definition: vpException.h:96
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
vp_deprecated void setIdentity(const double &val=1.0)
Definition: vpMatrix.cpp:6977
int print(std::ostream &s, unsigned int length, const std::string &intro="") const
Definition: vpMatrix.cpp:5598
void eye()
Definition: vpMatrix.cpp:449
vpMatrix operator*(const vpMatrix &B) const
Definition: vpMatrix.cpp:1168
vpMatrix t() const
Definition: vpMatrix.cpp:464
vpMatrix extract(unsigned int r, unsigned int c, unsigned int nrows, unsigned int ncols) const
Definition: vpMatrix.cpp:407
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)