libvisp-core-dev 3.0.0-4 / usr / include / x86_64-linux-gnu / visp3 / core / vpHomogeneousMatrix.h

/****************************************************************************
 *
 * 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
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 * France
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 * If you have questions regarding the use of this file, please contact
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 * 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:
 */