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Visual Servoing Platform
version 3.3.0
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#include <vpVelocityTwistMatrix.h>
Public Member Functions | |
vpVelocityTwistMatrix () | |
vpVelocityTwistMatrix (const vpVelocityTwistMatrix &V) | |
vpVelocityTwistMatrix (const vpHomogeneousMatrix &M, bool full=true) | |
vpVelocityTwistMatrix (const vpTranslationVector &t, const vpRotationMatrix &R) | |
vpVelocityTwistMatrix (const vpTranslationVector &t, const vpThetaUVector &thetau) | |
vpVelocityTwistMatrix (double tx, double ty, double tz, double tux, double tuy, double tuz) | |
vpVelocityTwistMatrix (const vpRotationMatrix &R) | |
vpVelocityTwistMatrix (const vpThetaUVector &thetau) | |
virtual | ~vpVelocityTwistMatrix () |
vpVelocityTwistMatrix | buildFrom (const vpTranslationVector &t, const vpRotationMatrix &R) |
vpVelocityTwistMatrix | buildFrom (const vpTranslationVector &t, const vpThetaUVector &thetau) |
vpVelocityTwistMatrix | buildFrom (const vpHomogeneousMatrix &M, bool full=true) |
vpVelocityTwistMatrix | buildFrom (const vpRotationMatrix &R) |
vpVelocityTwistMatrix | buildFrom (const vpThetaUVector &thetau) |
void | extract (vpRotationMatrix &R) const |
void | extract (vpTranslationVector &t) const |
void | eye () |
vpVelocityTwistMatrix | inverse () const |
void | inverse (vpVelocityTwistMatrix &V) const |
vpVelocityTwistMatrix | operator* (const vpVelocityTwistMatrix &V) const |
vpMatrix | operator* (const vpMatrix &M) const |
vpColVector | operator* (const vpColVector &v) const |
vpVelocityTwistMatrix & | operator= (const vpVelocityTwistMatrix &V) |
int | print (std::ostream &s, unsigned int length, char const *intro=0) const |
void | resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true) |
bool | operator== (const vpArray2D< float > &A) const |
Deprecated functions | |
vp_deprecated void | init () |
vp_deprecated void | setIdentity () |
Inherited functionalities from vpArray2D | |
unsigned int | getCols () const |
double | getMaxValue () const |
double | getMinValue () const |
unsigned int | getRows () const |
unsigned int | size () const |
void | resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true) |
void | reshape (unsigned int nrows, unsigned int ncols) |
bool | operator== (const vpArray2D< double > &A) const |
bool | operator!= (const vpArray2D< double > &A) const |
double * | operator[] (unsigned int i) |
double * | operator[] (unsigned int i) const |
vpArray2D< double > | hadamard (const vpArray2D< double > &m) const |
Static Public Member Functions | |
Inherited I/O from vpArray2D with Static Public Member Functions | |
static bool | load (const std::string &filename, vpArray2D< double > &A, bool binary=false, char *header=NULL) |
static bool | loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=NULL) |
static bool | save (const std::string &filename, const vpArray2D< double > &A, bool binary=false, const char *header="") |
static bool | saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="") |
Public Attributes | |
double * | data |
Protected Attributes | |
unsigned int | rowNum |
unsigned int | colNum |
double ** | rowPtrs |
unsigned int | dsize |
Friends | |
class | vpMatrix |
Related Functions | |
(Note that these are not member functions.) | |
enum | vpGEMMmethod |
void | vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0) |
This class derived from vpArray2D<double> implements the 6 by 6 matrix which transforms velocities from one frame to another. This matrix is also called velocity twist transformation matrix.
The full velocity twist transformation matrix allows to compute the velocity at point a expressed in frame a knowing its velocity at point b expressed in frame b. This matrix is defined as:
where is a rotation matrix and
is a translation vector.
There are different ways to initialize such a full velocity twist matrix. The following example shows how to proceed setting the translation and rotation matrix transformations:
It produces the following printings:
When the point where the velocity is expressed doesn't change, the matrix becomes block diagonal. It allows than to compute the velocity at point b expressed in frame a knowing its velocity at point b expressed in frame b :
To initialize such a velocity twist matrix where translation is not taken into account you can proceed like in the following code:
It produces the following printings:
The code below shows how to convert a velocity skew expressed at the origin of the camera frame into the origin of the fix frame using the full velocity twist matrix.
Definition at line 165 of file vpVelocityTwistMatrix.h.
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | ) |
Initialize a velocity twist transformation matrix as identity.
Definition at line 84 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpVelocityTwistMatrix & | V | ) |
Initialize a velocity twist transformation matrix from another velocity twist matrix.
V | : Velocity twist matrix used as initializer. |
Definition at line 92 of file vpVelocityTwistMatrix.cpp.
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explicit |
Initialize a velocity twist transformation matrix from an homogeneous matrix with
M | : Homogeneous matrix ![]() |
full | : Boolean used to indicate which matrix should be filled.
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Definition at line 112 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpTranslationVector & | t, |
const vpRotationMatrix & | R | ||
) |
Initialize a velocity twist transformation matrix from a translation vector t and a rotation matrix R.
t | : Translation vector. |
R | : Rotation matrix. |
Definition at line 170 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpTranslationVector & | t, |
const vpThetaUVector & | thetau | ||
) |
Initialize a velocity twist transformation matrix from a translation vector t and a rotation vector with parametrization.
t | : Translation vector. |
thetau | : ![]() ![]() |
Definition at line 134 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | double | tx, |
double | ty, | ||
double | tz, | ||
double | tux, | ||
double | tuy, | ||
double | tuz | ||
) |
Initialize a velocity twist transformation matrix from a translation vector and a rotation vector with
parametrization.
tx,ty,tz | : Translation vector in meters. |
tux,tuy,tuz | : ![]() ![]() |
Definition at line 204 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpRotationMatrix & | R | ) |
Initialize a velocity twist transformation matrix from a rotation matrix R.
R | : Rotation matrix. |
Definition at line 187 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix::vpVelocityTwistMatrix | ( | const vpThetaUVector & | thetau | ) |
Initialize a velocity twist transformation matrix from a rotation vector with parametrization.
thetau | : ![]() ![]() |
Definition at line 152 of file vpVelocityTwistMatrix.cpp.
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inlinevirtual |
Destructor.
Definition at line 189 of file vpVelocityTwistMatrix.h.
vpVelocityTwistMatrix vpVelocityTwistMatrix::buildFrom | ( | const vpHomogeneousMatrix & | M, |
bool | full = true |
||
) |
Initialize a velocity twist transformation matrix from an homogeneous matrix with
M | : Homogeneous matrix ![]() |
full | : Boolean used to indicate which matrix should be filled.
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Definition at line 435 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix vpVelocityTwistMatrix::buildFrom | ( | const vpRotationMatrix & | R | ) |
Build a velocity twist transformation block diagonal matrix from a rotation matrix R.
R | : Rotation matrix. |
Definition at line 337 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix vpVelocityTwistMatrix::buildFrom | ( | const vpThetaUVector & | thetau | ) |
Initialize a velocity twist transformation matrix from a rotation vector with parametrization.
thetau | : ![]() ![]() |
Definition at line 411 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix vpVelocityTwistMatrix::buildFrom | ( | const vpTranslationVector & | t, |
const vpRotationMatrix & | R | ||
) |
Build a velocity twist transformation matrix from a translation vector t and a rotation matrix R.
t | : Translation vector. |
R | : Rotation matrix. |
Definition at line 363 of file vpVelocityTwistMatrix.cpp.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbTracker::computeVVSPoseEstimation(), and vpSimulatorAfma6::get_cVe().
vpVelocityTwistMatrix vpVelocityTwistMatrix::buildFrom | ( | const vpTranslationVector & | t, |
const vpThetaUVector & | thetau | ||
) |
Initialize a velocity twist transformation matrix from a translation vector t and a rotation vector with parametrization.
t | : Translation vector. |
thetau | : ![]() ![]() |
Definition at line 393 of file vpVelocityTwistMatrix.cpp.
void vpVelocityTwistMatrix::extract | ( | vpRotationMatrix & | R | ) | const |
Extract the rotation matrix from the velocity twist matrix.
Definition at line 465 of file vpVelocityTwistMatrix.cpp.
void vpVelocityTwistMatrix::extract | ( | vpTranslationVector & | t | ) | const |
Extract the translation vector from the velocity twist matrix.
Definition at line 473 of file vpVelocityTwistMatrix.cpp.
void vpVelocityTwistMatrix::eye | ( | ) |
Initialize a 6x6 velocity twist matrix as identity.
Definition at line 71 of file vpVelocityTwistMatrix.cpp.
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inlineinherited |
Return the number of columns of the 2D array.
Definition at line 278 of file vpArray2D.h.
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inherited |
Return the array max value.
Definition at line 912 of file vpArray2D.h.
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inherited |
Return the array min value.
Definition at line 895 of file vpArray2D.h.
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inlineinherited |
Return the number of rows of the 2D array.
Definition at line 288 of file vpArray2D.h.
Compute the Hadamard product (element wise matrix multiplication).
m | : Second matrix; |
Definition at line 932 of file vpArray2D.h.
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inline |
Definition at line 236 of file vpVelocityTwistMatrix.h.
vpVelocityTwistMatrix vpVelocityTwistMatrix::inverse | ( | ) | const |
Invert the velocity twist matrix.
Definition at line 446 of file vpVelocityTwistMatrix.cpp.
void vpVelocityTwistMatrix::inverse | ( | vpVelocityTwistMatrix & | V | ) | const |
Invert the velocity twist matrix.
Definition at line 462 of file vpVelocityTwistMatrix.cpp.
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inlinestaticinherited |
Load a matrix from a file.
filename | : Absolute file name. |
A | : Array to be loaded |
binary | : If true the matrix is loaded from a binary file, else from a text file. |
header | : Header of the file is loaded in this parameter. |
Definition at line 540 of file vpArray2D.h.
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inlinestaticinherited |
Load an array from a YAML-formatted file.
filename | : absolute file name. |
A | : array to be loaded from the file. |
header | : header of the file is loaded in this parameter. |
Definition at line 652 of file vpArray2D.h.
Not equal to comparison operator of a 2D array.
Definition at line 993 of file vpArray2D.h.
vpColVector vpVelocityTwistMatrix::operator* | ( | const vpColVector & | v | ) | const |
Operator that allows to multiply a twist transformation matrix by a 6-dimension column vector.
v | : Velocity skew vector. |
vpException::dimensionError | If v is not a 6 dimension column vector. |
Definition at line 302 of file vpVelocityTwistMatrix.cpp.
Operator that allows to multiply a velocity twist transformation matrix by a matrix.
As shown in the example below, this operator can be used to compute the corresponding camera velocity skew from the joint velocities knowing the robot jacobian.
vpException::dimensionError | If M is not a 6 rows dimension matrix. |
Definition at line 272 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix vpVelocityTwistMatrix::operator* | ( | const vpVelocityTwistMatrix & | V | ) | const |
Operator that allows to multiply a velocity twist transformation matrix by an other velocity twist transformation matrix.
Definition at line 218 of file vpVelocityTwistMatrix.cpp.
vpVelocityTwistMatrix & vpVelocityTwistMatrix::operator= | ( | const vpVelocityTwistMatrix & | V | ) |
Copy operator that allow to set a velocity twist matrix from an other one.
V | : Velocity twist matrix to copy. |
Definition at line 57 of file vpVelocityTwistMatrix.cpp.
Equal to comparison operator of a 2D array.
Definition at line 948 of file vpArray2D.h.
Definition at line 978 of file vpArray2D.h.
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inlineinherited |
Set element using A[i][j] = x.
Definition at line 484 of file vpArray2D.h.
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inlineinherited |
Get element using x = A[i][j].
Definition at line 486 of file vpArray2D.h.
int vpVelocityTwistMatrix::print | ( | std::ostream & | s, |
unsigned int | length, | ||
char const * | intro = 0 |
||
) | const |
Pretty print a velocity twist matrix. The data are tabulated. The common widths before and after the decimal point are set with respect to the parameter maxlen.
s | Stream used for the printing. |
length | The suggested width of each matrix element. The actual width grows in order to accomodate the whole integral part, and shrinks if the whole extent is not needed for all the numbers. |
intro | The introduction which is printed before the matrix. Can be set to zero (or omitted), in which case the introduction is not printed. |
Definition at line 507 of file vpVelocityTwistMatrix.cpp.
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inlineinherited |
Definition at line 379 of file vpArray2D.h.
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inline |
This function is not applicable to a velocity twist matrix that is always a 6-by-6 matrix.
vpException::fatalError | When this function is called. |
Definition at line 219 of file vpVelocityTwistMatrix.h.
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inlineinherited |
Set the size of the array and initialize all the values to zero.
nrows | : number of rows. |
ncols | : number of column. |
flagNullify | : if true, then the array is re-initialized to 0 after resize. If false, the initial values from the common part of the array (common part between old and new version of the array) are kept. Default value is true. |
recopy_ | : if true, will perform an explicit recopy of the old data if needed and if flagNullify is set to false. |
Definition at line 304 of file vpArray2D.h.
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inlinestaticinherited |
Save a matrix to a file.
filename | : Absolute file name. |
A | : Array to be saved. |
binary | : If true the matrix is saved in a binary file, else a text file. |
header | : Optional line that will be saved at the beginning of the file. |
Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.
Definition at line 737 of file vpArray2D.h.
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inlinestaticinherited |
Save an array in a YAML-formatted file.
filename | : absolute file name. |
A | : array to be saved in the file. |
header | : optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any. |
Here is an example of outputs.
Content of matrix.yml:
Content of matrixIndent.yml:
Definition at line 830 of file vpArray2D.h.
void vpVelocityTwistMatrix::setIdentity | ( | ) |
Set the velocity twist transformation matrix to identity.
Definition at line 602 of file vpVelocityTwistMatrix.cpp.
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inlineinherited |
Return the number of elements of the 2D array.
Definition at line 290 of file vpArray2D.h.
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related |
This function performs generalized matrix multiplication: D = alpha*op(A)*op(B) + beta*op(C), where op(X) is X or X^T. Operation on A, B and C matrices is described by enumeration vpGEMMmethod().
For example, to compute D = alpha*A^T*B^T+beta*C we need to call :
If C is not used, vpGEMM must be called using an empty array null. Thus to compute D = alpha*A^T*B, we have to call:
vpException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the operations. |
A | : An array that could be a vpMatrix. |
B | : An array that could be a vpMatrix. |
alpha | : A scalar. |
C | : An array that could be a vpMatrix. |
beta | : A scalar. |
D | : The resulting array that could be a vpMatrix. |
ops | : A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T. |
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related |
Enumeration of the operations applied on matrices in vpGEMM() function.
Operations are :
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friend |
Definition at line 167 of file vpVelocityTwistMatrix.h.
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protectedinherited |
Number of columns in the array.
Definition at line 136 of file vpArray2D.h.
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inherited |
Address of the first element of the data array.
Definition at line 144 of file vpArray2D.h.
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protectedinherited |
Current array size (rowNum * colNum)
Definition at line 140 of file vpArray2D.h.
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protectedinherited |
Number of rows in the array.
Definition at line 134 of file vpArray2D.h.
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protectedinherited |
Address of the first element of each rows.
Definition at line 138 of file vpArray2D.h.