Visual Servoing Platform version 3.5.0
vpHomogeneousMatrix.h
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30 *
31 * Description:
32 * Homogeneous matrix.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
44#ifndef VPHOMOGENEOUSMATRIX_HH
45#define VPHOMOGENEOUSMATRIX_HH
46
48class vpPoseVector;
49class vpMatrix;
51class vpPoseVector;
52class vpThetaUVector;
54class vpPoint;
55
56#include <fstream>
57#include <vector>
58
59#include <visp3/core/vpArray2D.h>
60#include <visp3/core/vpRotationMatrix.h>
61#include <visp3/core/vpThetaUVector.h>
62//#include <visp3/core/vpTranslationVector.h>
63#include <visp3/core/vpPoseVector.h>
64
157class VISP_EXPORT vpHomogeneousMatrix : public vpArray2D<double>
158{
159public:
165 explicit vpHomogeneousMatrix(const vpPoseVector &p);
166 explicit vpHomogeneousMatrix(const std::vector<float> &v);
167 explicit vpHomogeneousMatrix(const std::vector<double> &v);
168 vpHomogeneousMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
169#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
170 vpHomogeneousMatrix(const std::initializer_list<double> &list);
171#endif
176
177 void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
178 void buildFrom(const vpTranslationVector &t, const vpThetaUVector &tu);
179 void buildFrom(const vpTranslationVector &t, const vpQuaternionVector &q);
180 void buildFrom(const vpPoseVector &p);
181 void buildFrom(const std::vector<float> &v);
182 void buildFrom(const std::vector<double> &v);
183 void buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz);
184
185 void convert(std::vector<float> &M);
186 void convert(std::vector<double> &M);
187
188 // Set to identity
189 void eye();
190
191 vpColVector getCol(unsigned int j) const;
192 vpRotationMatrix getRotationMatrix() const;
193 vpThetaUVector getThetaUVector() const;
194 vpTranslationVector getTranslationVector() const;
195
196 // Invert the homogeneous matrix.
197 vpHomogeneousMatrix inverse() const;
198 // Invert the homogeneous matrix.
199 void inverse(vpHomogeneousMatrix &Mi) const;
200
201 // Test if the rotational part of the matrix is a rotation matrix.
202 bool isAnHomogeneousMatrix(double threshold=1e-6) const;
203
204 void insert(const vpRotationMatrix &R);
205 void insert(const vpThetaUVector &tu);
206 void insert(const vpTranslationVector &t);
207 void insert(const vpQuaternionVector &t);
208
209 void extract(vpRotationMatrix &R) const;
210 void extract(vpThetaUVector &tu) const;
211 void extract(vpTranslationVector &t) const;
212 void extract(vpQuaternionVector &q) const;
213
214 // Load an homogeneous matrix from a file
215 void load(std::ifstream &f);
216 // Save an homogeneous matrix in a file
217 void save(std::ofstream &f) const;
218
221 vpHomogeneousMatrix &operator*=(const vpHomogeneousMatrix &M);
222
223 vpColVector operator*(const vpColVector &v) const;
225
226 // Multiply by a point
227 vpPoint operator*(const vpPoint &bP) const;
228
229 vpHomogeneousMatrix& operator<<(double val);
230 vpHomogeneousMatrix& operator,(double val);
231
232 void print() const;
233
239 void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
240 {
241 (void)nrows;
242 (void)ncols;
243 (void)flagNullify;
244 throw(vpException(vpException::fatalError, "Cannot resize an homogeneous matrix"));
245 }
246
247 static vpHomogeneousMatrix mean(const std::vector<vpHomogeneousMatrix> &vec_M);
248
249#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
258 vp_deprecated void init(){}
262 vp_deprecated void setIdentity();
264#endif
265
266protected:
267 unsigned int m_index;
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
vpArray2D< Type > & operator=(Type x)
Set all the elements of the array to x.
Definition: vpArray2D.h:413
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:493
static bool save(const std::string &filename, const vpArray2D< Type > &A, bool binary=false, const char *header="")
Definition: vpArray2D.h:737
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.
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)
vp_deprecated void init()
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
Implementation of a rotation vector as quaternion angle minimal representation.
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.
vpColVector operator*(const double &x, const vpColVector &v)