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/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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:
* Test some vpColVector functionalities.
*
*****************************************************************************/
/*!
\example exponentialMap.cpp
Test some vpExponentialMap functionalities.
*/
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpExponentialMap.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpThetaUVector.h>
#include <visp3/core/vpTranslationVector.h>
int main()
{
try {
vpTranslationVector t;
t[0] = 0.1; // t_x in m/s
t[1] = 0.2f; // t_y in m/s
t[2] = 0.f; // t_z in m/s
vpRxyzVector rxyz;
rxyz[0] = vpMath::rad(0.f); // r_x in rad/s
rxyz[1] = vpMath::rad(0.f); // r_y in rad/s
rxyz[2] = vpMath::rad(90.f); // r_z in rad/s
// Build a ThetaU rotation vector from a Rxyz vector
vpThetaUVector tu;
tu.buildFrom(rxyz);
vpColVector v(6); // Velocity vector [t, thetaU]^t
v[0] = t[0]; // t_x
v[1] = t[1]; // t_y
v[2] = t[2]; // t_z
v[3] = tu[0]; // ThetaU_x
v[4] = tu[1]; // ThetaU_y
v[5] = tu[2]; // ThetaU_z
std::cout << "Considered velocity : \n" << v << std::endl;
vpHomogeneousMatrix M;
// Compute the displacement from the velocity applied during 1 second
M = vpExponentialMap::direct(v);
{
// Extract translation from homogenous matrix
vpTranslationVector dt; // translation displacement
M.extract(dt);
// Extract rotation from homogenous matrix
vpRotationMatrix R;
M.extract(R);
vpRxyzVector drxyz(R); // rotational displacement
std::cout << "Displacement if velocity is applied during 1 s : \n" << dt << " " << drxyz << std::endl;
}
// Compute the displacement from the velocity applied during 2 seconds
M = vpExponentialMap::direct(v, 2.f);
{
// Extract translation from homogenous matrix
vpTranslationVector dt; // translation displacement
M.extract(dt);
// Extract rotation from homogenous matrix
vpRotationMatrix R;
M.extract(R);
vpRxyzVector drxyz(R); // rotational displacement
std::cout << "Displacement if velocity is applied during 2 s : \n" << dt << " " << drxyz << std::endl;
}
// Compute the velocity from the displacement observed during 2 seconds
v = vpExponentialMap::inverse(M, 2.f);
std::cout << "Velocity from displacement observed during 2 s: \n" << v << std::endl;
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
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