Visual Servoing Platform version 3.6.0
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exponentialMap.cpp
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test some vpColVector functionalities.
33 *
34*****************************************************************************/
35
42#include <visp3/core/vpColVector.h>
43#include <visp3/core/vpExponentialMap.h>
44#include <visp3/core/vpHomogeneousMatrix.h>
45#include <visp3/core/vpRotationVector.h>
46#include <visp3/core/vpRxyzVector.h>
47#include <visp3/core/vpThetaUVector.h>
48#include <visp3/core/vpTranslationVector.h>
49
50int main()
51{
52 try {
54 t[0] = 0.1; // t_x in m/s
55 t[1] = 0.2f; // t_y in m/s
56 t[2] = 0.f; // t_z in m/s
57
58 vpRxyzVector rxyz;
59 rxyz[0] = vpMath::rad(0.f); // r_x in rad/s
60 rxyz[1] = vpMath::rad(0.f); // r_y in rad/s
61 rxyz[2] = vpMath::rad(90.f); // r_z in rad/s
62
63 // Build a ThetaU rotation vector from a Rxyz vector
65 tu.buildFrom(rxyz);
66
67 vpColVector v(6); // Velocity vector [t, thetaU]^t
68
69 v[0] = t[0]; // t_x
70 v[1] = t[1]; // t_y
71 v[2] = t[2]; // t_z
72 v[3] = tu[0]; // ThetaU_x
73 v[4] = tu[1]; // ThetaU_y
74 v[5] = tu[2]; // ThetaU_z
75
76 std::cout << "Considered velocity : \n" << v << std::endl;
77
79
80 // Compute the displacement from the velocity applied during 1 second
82
83 {
84 // Extract translation from homogenous matrix
85 vpTranslationVector dt; // translation displacement
86 M.extract(dt);
87
88 // Extract rotation from homogenous matrix
90 M.extract(R);
91 vpRxyzVector drxyz(R); // rotational displacement
92
93 std::cout << "Displacement if velocity is applied during 1 s : \n" << dt << " " << drxyz << std::endl;
94 }
95
96 // Compute the displacement from the velocity applied during 2 seconds
97 M = vpExponentialMap::direct(v, 2.f);
98
99 {
100 // Extract translation from homogenous matrix
101 vpTranslationVector dt; // translation displacement
102 M.extract(dt);
103
104 // Extract rotation from homogenous matrix
106 M.extract(R);
107 vpRxyzVector drxyz(R); // rotational displacement
108
109 std::cout << "Displacement if velocity is applied during 2 s : \n" << dt << " " << drxyz << std::endl;
110 }
111
112 // Compute the velocity from the displacement observed during 2 seconds
113 v = vpExponentialMap::inverse(M, 2.f);
114
115 std::cout << "Velocity from displacement observed during 2 s: \n" << v << std::endl;
116 return EXIT_SUCCESS;
117 }
118 catch (const vpException &e) {
119 std::cout << "Catch an exception: " << e << std::endl;
120 return EXIT_FAILURE;
121 }
122}
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
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:116
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Implementation of a rotation vector as axis-angle minimal representation.
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
Class that consider the case of a translation vector.