Visual Servoing Platform version 3.6.0
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testTwistMatrix.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Tests some vpMatrix functionalities.
33 *
34*****************************************************************************/
35
42#include <visp3/core/vpConfig.h>
43#include <visp3/core/vpDebug.h>
44
45#include <stdio.h>
46#include <stdlib.h>
47
48#include <visp3/core/vpColVector.h>
49#include <visp3/core/vpMath.h>
50#include <visp3/core/vpMatrix.h>
51#include <visp3/core/vpRotationMatrix.h>
52#include <visp3/core/vpRxyzVector.h>
53#include <visp3/core/vpTranslationVector.h>
54#include <visp3/core/vpVelocityTwistMatrix.h>
55
56int main()
57{
58 try {
59 vpTRACE("--------------------------");
60 vpTRACE("--- TEST vpVelocityTwistMatrix ---");
61 vpTRACE("--------------------------");
62
63 // Set the translation
65 cte[0] = 1.;
66 cte[1] = 0.5;
67 cte[2] = -1.;
68
69 // Set the rotation
70 vpRxyzVector cre;
71 cre[0] = M_PI / 2.;
72 cre[1] = -M_PI / 2.;
73 cre[2] = -M_PI / 4.;
74
75 // Build rotation matrix
76 vpRotationMatrix cRe(cre);
77
78 // Build the twist matrix
79 vpVelocityTwistMatrix cVe(cte, cRe);
80
81 vpTRACE("cVe twist matrix:");
82 cVe.print(std::cout, 6);
83
84 // Set a speed skew
85 vpColVector ev(6);
86
87 ev[0] = 1.;
88 ev[1] = 0.1;
89 ev[2] = -0.5;
90 ev[3] = M_PI / 180.;
91 ev[4] = M_PI / 18.;
92 ev[5] = M_PI / 10.;
93
94 vpTRACE("ev colvector:");
95 ev.print(std::cout, 6);
96
97 // Set a speed skew
98 vpColVector cv;
99
100 cv = cVe * ev;
101
102 vpTRACE("cv = cVe * ev:");
103 cv.print(std::cout, 6);
104 return EXIT_SUCCESS;
105 } catch (const vpException &e) {
106 std::cout << "Catch an exception: " << e << std::endl;
107 return EXIT_FAILURE;
108 }
109}
Implementation of column vector and the associated operations.
int print(std::ostream &s, unsigned int length, char const *intro=0) const
error that can be emitted by ViSP classes.
Definition vpException.h:59
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Class that consider the case of a translation vector.
#define vpTRACE
Definition vpDebug.h:411