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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:
* Tests some vpMatrix functionalities.
*
*****************************************************************************/
/*!
\example testTwistMatrix.cpp
\brief Test some vpMatrix functionalities.
*/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
int main()
{
try {
vpTRACE("--------------------------");
vpTRACE("--- TEST vpVelocityTwistMatrix ---");
vpTRACE("--------------------------");
// Set the translation
vpTranslationVector cte;
cte[0] = 1.;
cte[1] = 0.5;
cte[2] = -1.;
// Set the rotation
vpRxyzVector cre;
cre[0] = M_PI / 2.;
cre[1] = -M_PI / 2.;
cre[2] = -M_PI / 4.;
// Build rotation matrix
vpRotationMatrix cRe(cre);
// Build the twist matrix
vpVelocityTwistMatrix cVe(cte, cRe);
vpTRACE("cVe twist matrix:");
cVe.print(std::cout, 6);
// Set a speed skew
vpColVector ev(6);
ev[0] = 1.;
ev[1] = 0.1;
ev[2] = -0.5;
ev[3] = M_PI / 180.;
ev[4] = M_PI / 18.;
ev[5] = M_PI / 10.;
vpTRACE("ev colvector:");
ev.print(std::cout, 6);
// Set a speed skew
vpColVector cv;
cv = cVe * ev;
vpTRACE("cv = cVe * ev:");
cv.print(std::cout, 6);
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
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