/usr/include/x86_64-linux-gnu/visp3/core/vpHomogeneousMatrix.h is in libvisp-core-dev 3.0.0-4.
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*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 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
* ("GPL") version 2 as published by the Free Software Foundation.
* 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 http://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:
* Homogeneous matrix.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
/*!
\file vpHomogeneousMatrix.h
\brief Definition and computation on the homogeneous matrices
*/
#ifndef VPHOMOGENEOUSMATRIX_HH
#define VPHOMOGENEOUSMATRIX_HH
class vpTranslationVector;
class vpPoseVector;
class vpMatrix;
class vpRotationMatrix;
class vpPoseVector;
class vpThetaUVector;
class vpQuaternionVector;
class vpPoint;
#include <vector>
#include <fstream>
#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpThetaUVector.h>
//#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpPoseVector.h>
/*!
\class vpHomogeneousMatrix
\ingroup group_core_transformations
\brief Implementation of an homogeneous matrix and operations on such kind of matrices.
The class provides a data structure for the homogeneous matrices
as well as a set of operations on these matrices.
The vpHomogeneousMatrix class is derived from vpArray2D<double>.
An homogeneous matrix is 4x4 matrix defines as
\f[
^a{\bf M}_b = \left(\begin{array}{cc}
^a{\bf R}_b & ^a{\bf t}_b \\
{\bf 0}_{1\times 3} & 1
\end{array}
\right)
\f]
that defines the position of frame <em>b</em> in frame <em>a</em>
\f$ ^a{\bf R}_b \f$ is a rotation matrix and
\f$ ^a{\bf t}_b \f$ is a translation vector.
*/
class VISP_EXPORT vpHomogeneousMatrix : public vpArray2D<double>
{
public:
vpHomogeneousMatrix();
vpHomogeneousMatrix(const vpHomogeneousMatrix &M) ;
vpHomogeneousMatrix(const vpTranslationVector &t, const vpRotationMatrix &R) ;
vpHomogeneousMatrix(const vpTranslationVector &t, const vpThetaUVector &tu) ;
vpHomogeneousMatrix(const vpTranslationVector &t, const vpQuaternionVector &q) ;
vpHomogeneousMatrix(const vpPoseVector &p) ;
vpHomogeneousMatrix(const std::vector<float> &v);
vpHomogeneousMatrix(const std::vector<double> &v);
vpHomogeneousMatrix(const double tx, const double ty, const double tz,
const double tux, const double tuy, const double tuz) ;
/*!
Destructor.
*/
virtual ~vpHomogeneousMatrix() {};
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R) ;
void buildFrom(const vpTranslationVector &t, const vpThetaUVector &tu) ;
void buildFrom(const vpTranslationVector &t, const vpQuaternionVector& q) ;
void buildFrom(const vpPoseVector &p) ;
void buildFrom(const std::vector<float> &v) ;
void buildFrom(const std::vector<double> &v) ;
void buildFrom(const double tx, const double ty, const double tz,
const double tux, const double tuy, const double tuz) ;
void convert(std::vector<float> &M);
void convert(std::vector<double> &M);
// Set to identity
void eye();
vpColVector getCol(const unsigned int j) const;
vpRotationMatrix getRotationMatrix();
vpThetaUVector getThetaUVector();
vpTranslationVector getTranslationVector();
// Invert the homogeneous matrix.
vpHomogeneousMatrix inverse() const ;
// Invert the homogeneous matrix.
void inverse(vpHomogeneousMatrix &Mi) const;
// Test if the rotational part of the matrix is a rotation matrix.
bool isAnHomogeneousMatrix() const ;
void insert(const vpRotationMatrix &R) ;
void insert(const vpThetaUVector &tu) ;
void insert(const vpTranslationVector &t) ;
void insert(const vpQuaternionVector &t) ;
void extract(vpRotationMatrix &R) const;
void extract(vpThetaUVector &tu) const;
void extract(vpTranslationVector &t) const;
void extract(vpQuaternionVector& q) const;
// Load an homogeneous matrix from a file
void load(std::ifstream &f) ;
// Save an homogeneous matrix in a file
void save(std::ofstream &f) const ;
vpHomogeneousMatrix &operator=(const vpHomogeneousMatrix &M);
vpHomogeneousMatrix operator*(const vpHomogeneousMatrix &M) const;
vpColVector operator*(const vpColVector &v) const;
// Multiply by a point
vpPoint operator*(const vpPoint &bP) const;
void print() const;
/*!
This function is not applicable to an homogeneous matrix that is always a
4-by-4 matrix.
\exception vpException::fatalError When this function is called.
*/
void resize(const unsigned int nrows, const unsigned int ncols,
const bool flagNullify = true)
{
(void)nrows;
(void)ncols;
(void)flagNullify;
throw(vpException(vpException::fatalError, "Cannot resize an homogeneous matrix"));
};
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
/*!
@name Deprecated functions
*/
//@{
/*!
\deprecated Provided only for compat with previous releases.
This function does nothing.
*/
vp_deprecated void init() {};
/*!
\deprecated You should rather use eye().
*/
vp_deprecated void setIdentity();
//@}
#endif
} ;
#endif
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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