Visual Servoing Platform version 3.6.0
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vpVelocityTwistMatrix.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Velocity twist transformation matrix.
32 */
33
34#ifndef vpVelocityTwistMatrix_h
35#define vpVelocityTwistMatrix_h
36
37#include <visp3/core/vpArray2D.h>
38#include <visp3/core/vpColVector.h>
39#include <visp3/core/vpHomogeneousMatrix.h>
40#include <visp3/core/vpMatrix.h>
41#include <visp3/core/vpRotationMatrix.h>
42
44class vpColVector;
45
160class VISP_EXPORT vpVelocityTwistMatrix : public vpArray2D<double>
161{
162 friend class vpMatrix;
163
164public:
165 // basic constructor
167 // copy constructor
169 // constructor from an homogeneous transformation
170 explicit vpVelocityTwistMatrix(const vpHomogeneousMatrix &M, bool full = true);
171
172 // Construction from Translation and rotation (matrix parameterization)
174 // Construction from Translation and rotation (ThetaU parameterization)
176 vpVelocityTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
177
180
185
186 vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
187 vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpThetaUVector &thetau);
188 vpVelocityTwistMatrix buildFrom(const vpHomogeneousMatrix &M, bool full = true);
189 vpVelocityTwistMatrix buildFrom(const vpRotationMatrix &R);
190 vpVelocityTwistMatrix buildFrom(const vpThetaUVector &thetau);
191
192 void extract(vpRotationMatrix &R) const;
193 void extract(vpTranslationVector &t) const;
194
195 // Basic initialisation (identity)
196 void eye();
197
198 vpVelocityTwistMatrix inverse() const;
199 void inverse(vpVelocityTwistMatrix &V) const;
200
202 vpMatrix operator*(const vpMatrix &M) const;
203 vpColVector operator*(const vpColVector &v) const;
204
206
207 int print(std::ostream &s, unsigned int length, char const *intro = 0) const;
208
214 void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
215 {
216 (void)nrows;
217 (void)ncols;
218 (void)flagNullify;
219 throw(vpException(vpException::fatalError, "Cannot resize a velocity twist matrix"));
220 };
221
222#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
231 vp_deprecated void init(){};
235 vp_deprecated void setIdentity();
237#endif
238};
239
240#endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition vpArray2D.h:131
vpArray2D< Type > & operator=(Type x)
Set all the elements of the array to x.
Definition vpArray2D.h:445
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ fatalError
Fatal error.
Definition vpException.h:84
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
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)
vpColVector operator*(const double &x, const vpColVector &v)