Visual Servoing Platform version 3.5.0
exponentialMap.cpp
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30 *
31 * Description:
32 * Test some vpColVector functionalities.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
45#include <visp3/core/vpColVector.h>
46#include <visp3/core/vpExponentialMap.h>
47#include <visp3/core/vpHomogeneousMatrix.h>
48#include <visp3/core/vpRotationVector.h>
49#include <visp3/core/vpRxyzVector.h>
50#include <visp3/core/vpThetaUVector.h>
51#include <visp3/core/vpTranslationVector.h>
52
53int main()
54{
55 try {
57 t[0] = 0.1; // t_x in m/s
58 t[1] = 0.2f; // t_y in m/s
59 t[2] = 0.f; // t_z in m/s
60
61 vpRxyzVector rxyz;
62 rxyz[0] = vpMath::rad(0.f); // r_x in rad/s
63 rxyz[1] = vpMath::rad(0.f); // r_y in rad/s
64 rxyz[2] = vpMath::rad(90.f); // r_z in rad/s
65
66 // Build a ThetaU rotation vector from a Rxyz vector
68 tu.buildFrom(rxyz);
69
70 vpColVector v(6); // Velocity vector [t, thetaU]^t
71
72 v[0] = t[0]; // t_x
73 v[1] = t[1]; // t_y
74 v[2] = t[2]; // t_z
75 v[3] = tu[0]; // ThetaU_x
76 v[4] = tu[1]; // ThetaU_y
77 v[5] = tu[2]; // ThetaU_z
78
79 std::cout << "Considered velocity : \n" << v << std::endl;
80
82
83 // Compute the displacement from the velocity applied during 1 second
85
86 {
87 // Extract translation from homogenous matrix
88 vpTranslationVector dt; // translation displacement
89 M.extract(dt);
90
91 // Extract rotation from homogenous matrix
93 M.extract(R);
94 vpRxyzVector drxyz(R); // rotational displacement
95
96 std::cout << "Displacement if velocity is applied during 1 s : \n" << dt << " " << drxyz << std::endl;
97 }
98
99 // Compute the displacement from the velocity applied during 2 seconds
100 M = vpExponentialMap::direct(v, 2.f);
101
102 {
103 // Extract translation from homogenous matrix
104 vpTranslationVector dt; // translation displacement
105 M.extract(dt);
106
107 // Extract rotation from homogenous matrix
109 M.extract(R);
110 vpRxyzVector drxyz(R); // rotational displacement
111
112 std::cout << "Displacement if velocity is applied during 2 s : \n" << dt << " " << drxyz << std::endl;
113 }
114
115 // Compute the velocity from the displacement observed during 2 seconds
116 v = vpExponentialMap::inverse(M, 2.f);
117
118 std::cout << "Velocity from displacement observed during 2 s: \n" << v << std::endl;
119 return EXIT_SUCCESS;
120 } catch (const vpException &e) {
121 std::cout << "Catch an exception: " << e << std::endl;
122 return EXIT_FAILURE;
123 }
124}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
static vpHomogeneousMatrix direct(const vpColVector &v)
static vpColVector inverse(const vpHomogeneousMatrix &M)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void extract(vpRotationMatrix &R) const
static double rad(double deg)
Definition: vpMath.h:110
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
Implementation of a rotation vector as axis-angle minimal representation.
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
Class that consider the case of a translation vector.