vpVelocityTwistMatrix.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Velocity twist transformation matrix.
 */
 
#ifndef VP_VELOCITY_TWIST_MATRIX_H
#define VP_VELOCITY_TWIST_MATRIX_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
 
BEGIN_VISP_NAMESPACE
class vpColVector;
class vpHomogeneousMatrix;
class vpMatrix;

class VISP_EXPORT vpVelocityTwistMatrix : public vpArray2D<double>
{
  friend class vpMatrix;
 
public:
  // basic constructor
  vpVelocityTwistMatrix();
  // copy constructor
  vpVelocityTwistMatrix(const vpVelocityTwistMatrix &V);
  // constructor from an homogeneous transformation
  VP_EXPLICIT vpVelocityTwistMatrix(const vpHomogeneousMatrix &M, bool full = true);
 
  // Construction from Translation and rotation (matrix parameterization)
  vpVelocityTwistMatrix(const vpTranslationVector &t, const vpRotationMatrix &R);
  // Construction from Translation and rotation (ThetaU parameterization)
  vpVelocityTwistMatrix(const vpTranslationVector &t, const vpThetaUVector &thetau);
  vpVelocityTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
 
  VP_EXPLICIT vpVelocityTwistMatrix(const vpRotationMatrix &R);
  VP_EXPLICIT vpVelocityTwistMatrix(const vpThetaUVector &thetau);
 
  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;
 
  // Basic initialisation (identity)
  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 = nullptr) const;

  VP_NORETURN void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
  {
    (void)nrows;
    (void)ncols;
    (void)flagNullify;
    throw(vpException(vpException::fatalError, "Cannot resize a velocity twist matrix"));
  }
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

  VP_DEPRECATED void init() { }
  VP_DEPRECATED void setIdentity();
#endif
private:
  static const unsigned constr_val_6;
};
END_VISP_NAMESPACE
#endif