Visual Servoing Platform version 3.5.0
vpPoseVector.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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9 * (at your option) any later version.
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
27 *
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 * Pose object. A pose is a size 6 vector [t, tu]^T where tu is
33 * a rotation vector (theta u representation) and t is a translation vector.
34 *
35 * Authors:
36 * Eric Marchand
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40
41#ifndef vpPOSEVECTOR_H
42#define vpPOSEVECTOR_H
43
55class vpThetaUVector;
56class vpRowVector;
57
58#include <visp3/core/vpArray2D.h>
59#include <visp3/core/vpHomogeneousMatrix.h>
60#include <visp3/core/vpMatrix.h>
61#include <visp3/core/vpRotationMatrix.h>
62
151class VISP_EXPORT vpPoseVector : public vpArray2D<double>
152{
153public:
154 // constructor
155 vpPoseVector();
156 // constructor from 3 angles (in radian)
157 vpPoseVector(double tx, double ty, double tz, double tux, double tuy, double tuz);
158 // constructor convert an homogeneous matrix in a pose
159 explicit vpPoseVector(const vpHomogeneousMatrix &M);
160 // constructor convert a translation and a "thetau" vector into a pose
161 vpPoseVector(const vpTranslationVector &tv, const vpThetaUVector &tu);
162 // constructor convert a translation and a rotation matrix into a pose
167 virtual ~vpPoseVector(){};
168
169 vpPoseVector buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz);
170 // convert an homogeneous matrix in a pose
171 vpPoseVector buildFrom(const vpHomogeneousMatrix &M);
172 // convert a translation and a "thetau" vector into a pose
173 vpPoseVector buildFrom(const vpTranslationVector &tv, const vpThetaUVector &tu);
174 // convert a translation and a rotation matrix into a pose
175 vpPoseVector buildFrom(const vpTranslationVector &tv, const vpRotationMatrix &R);
176
177 void extract(vpRotationMatrix &R) const;
178 void extract(vpThetaUVector &tu) const;
179 void extract(vpTranslationVector &tv) const;
180 void extract(vpQuaternionVector &q) const;
181
182 vpRotationMatrix getRotationMatrix() const;
183 vpThetaUVector getThetaUVector() const;
184 vpTranslationVector getTranslationVector() const;
185
186 // Load an homogeneous matrix from a file
187 void load(std::ifstream &f);
188
213 inline double &operator[](unsigned int i) { return *(data + i); }
232 inline const double &operator[](unsigned int i) const { return *(data + i); }
233
234 // Print a vector [T thetaU] thetaU in degree
235 void print() const;
236 int print(std::ostream &s, unsigned int length, char const *intro = 0) const;
237
243 void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
244 {
245 (void)nrows;
246 (void)ncols;
247 (void)flagNullify;
248 throw(vpException(vpException::fatalError, "Cannot resize a pose vector"));
249 };
250
251 // Save an homogeneous matrix in a file
252 void save(std::ofstream &f) const;
253 void set(double tx, double ty, double tz, double tux, double tuy, double tuz);
254 vpRowVector t() const;
255
256#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
265 vp_deprecated void init(){};
267#endif
268};
269
270#endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:132
static bool load(const std::string &filename, vpArray2D< Type > &A, bool binary=false, char *header=NULL)
Definition: vpArray2D.h:540
static bool save(const std::string &filename, const vpArray2D< Type > &A, bool binary=false, const char *header="")
Definition: vpArray2D.h:737
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 pose vector and operations on poses.
Definition: vpPoseVector.h:152
vp_deprecated void init()
Definition: vpPoseVector.h:265
double & operator[](unsigned int i)
Definition: vpPoseVector.h:213
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)
Definition: vpPoseVector.h:243
const double & operator[](unsigned int i) const
Definition: vpPoseVector.h:232
virtual ~vpPoseVector()
Definition: vpPoseVector.h:167
Implementation of a rotation vector as quaternion angle minimal representation.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:116
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.