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Visual Servoing Platform version 3.6.0
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#include <vpExponentialMap.h>
Static Public Member Functions | |
static vpHomogeneousMatrix | direct (const vpColVector &v) |
static vpHomogeneousMatrix | direct (const vpColVector &v, const double &delta_t) |
static vpColVector | inverse (const vpHomogeneousMatrix &M) |
static vpColVector | inverse (const vpHomogeneousMatrix &M, const double &delta_t) |
Direct or inverse exponential map computation.
The exponential map gives the relationship between the velocity of a moving body and its displacement:
where
This class allows to compute the direct or the inverse exponential map.
A displacement
Definition at line 87 of file vpExponentialMap.h.
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Compute the exponential map. The inverse function is inverse(). The sampling time is here set to 1 second. To use an other value you should use direct(const vpColVector &, const double &).
v | : Instantaneous velocity skew represented by a 6 dimension vector ![]() ![]() ![]() |
Definition at line 58 of file vpExponentialMap.cpp.
References direct().
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), direct(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpPose::poseVirtualVSWithDepth(), vpRobotBebop2::setVelocity(), vpRobotCamera::setVelocity(), and vpSimulatorCamera::setVelocity().
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Compute the exponential map. The inverse function is inverse().
v | : Instantaneous velocity skew represented by a 6 dimension vector ![]() ![]() ![]() |
delta_t | : Sampling time ![]() ![]() |
Definition at line 78 of file vpExponentialMap.cpp.
References vpRotationMatrix::buildFrom(), vpException::dimensionError, vpHomogeneousMatrix::insert(), vpMath::mcosc(), vpMath::msinc(), vpMath::sinc(), and vpArray2D< Type >::size().
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Computes an instantaneous velocity skew from an homogeneous matrix. The inverse function is the exponential map, see direct().
M | : An homogeneous matrix corresponding to the displacement of an object during 1 second. |
Definition at line 201 of file vpExponentialMap.cpp.
References inverse().
Referenced by vpRobotBiclops::getDisplacement(), vpRobotAfma4::getVelocity(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), and inverse().
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Compute an instantaneous velocity from an homogeneous matrix. The inverse function is the exponential map, see direct().
M | : An homogeneous matrix corresponding to the displacement of an object during ![]() |
delta_t | : Sampling time ![]() |
Definition at line 220 of file vpExponentialMap.cpp.
References vpThetaUVector::buildFrom(), vpHomogeneousMatrix::extract(), vpMath::mcosc(), vpMath::msinc(), and vpMath::sinc().