Visual Servoing Platform version 3.6.0
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vpForceTwistMatrix.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 * Twist transformation matrix that allows to transform forces from one
32 * frame to an other.
33 */
34
35#ifndef vpForceTwistMatrix_h
36#define vpForceTwistMatrix_h
37
38#include <visp3/core/vpArray2D.h>
39#include <visp3/core/vpColVector.h>
40#include <visp3/core/vpHomogeneousMatrix.h>
41#include <visp3/core/vpRotationMatrix.h>
42
161class VISP_EXPORT vpForceTwistMatrix : public vpArray2D<double>
162{
163public:
164 // basic constructor
166 // copy constructor
168 // constructor from an homogeneous transformation
169 explicit vpForceTwistMatrix(const vpHomogeneousMatrix &M, bool full = true);
170
171 // Construction from Translation and rotation (matrix parameterization)
173 // Construction from Translation and rotation (ThetaU parameterization)
175 vpForceTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
176
178 vpForceTwistMatrix(const vpThetaUVector &thetau);
179
184
185 vpForceTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
186 vpForceTwistMatrix buildFrom(const vpTranslationVector &t, const vpThetaUVector &thetau);
187 vpForceTwistMatrix buildFrom(const vpHomogeneousMatrix &M, bool full = true);
188
189 vpForceTwistMatrix buildFrom(const vpRotationMatrix &R);
190 vpForceTwistMatrix buildFrom(const vpThetaUVector &thetau);
191
192 // Basic initialisation (identity)
193 void eye();
194
196 vpMatrix operator*(const vpMatrix &M) const;
197
198 vpColVector operator*(const vpColVector &H) const;
199
200 // copy operator from vpMatrix (handle with care)
202
203 int print(std::ostream &s, unsigned int length, char const *intro = 0) const;
204
210 void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
211 {
212 (void)nrows;
213 (void)ncols;
214 (void)flagNullify;
215 throw(vpException(vpException::fatalError, "Cannot resize a velocity twist matrix"));
216 }
217
218#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
227 vp_deprecated void init(){}
231 vp_deprecated void setIdentity();
233#endif
234};
235
236#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
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)
vp_deprecated void init()
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.
vpColVector operator*(const double &x, const vpColVector &v)