vpVelocityTwistMatrix.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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:
 * Velocity twist transformation matrix.
 */

 
#include <assert.h>
#include <sstream>
 
#include <visp3/core/vpException.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
 
BEGIN_VISP_NAMESPACE
const unsigned int vpVelocityTwistMatrix::constr_val_6 = 6;
vpVelocityTwistMatrix &vpVelocityTwistMatrix::operator=(const vpVelocityTwistMatrix &V)
{
  // why not unsigned int
  const int val_6 = 6;
  for (int i = 0; i < val_6; ++i) {
    for (int j = 0; j < val_6; ++j) {
      rowPtrs[i][j] = V.rowPtrs[i][j];
    }
  }
 
  return *this;
}

void vpVelocityTwistMatrix::eye()
{
  const unsigned int nparam = 6;
  for (unsigned int i = 0; i < nparam; ++i) {
    for (unsigned int j = 0; j < nparam; ++j) {
      if (i == j) {
        (*this)[i][j] = 1.0;
      }
      else {
        (*this)[i][j] = 0.0;
      }
    }
  }
}

vpVelocityTwistMatrix::vpVelocityTwistMatrix() : vpArray2D<double>(constr_val_6, constr_val_6) { eye(); }

vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpVelocityTwistMatrix &V) : vpArray2D<double>(constr_val_6, constr_val_6) { *this = V; }

vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpHomogeneousMatrix &M, bool full) : vpArray2D<double>(constr_val_6, constr_val_6)
{
  if (full) {
    buildFrom(M);
  }
  else {
    buildFrom(M.getRotationMatrix());
  }
}

vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpTranslationVector &t, const vpThetaUVector &thetau)
  : vpArray2D<double>(constr_val_6, constr_val_6)
{
  buildFrom(t, thetau);
}

vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpThetaUVector &thetau) : vpArray2D<double>(constr_val_6, constr_val_6)
{
  buildFrom(thetau);
}

vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpTranslationVector &t, const vpRotationMatrix &R)
  : vpArray2D<double>(constr_val_6, constr_val_6)
{
  buildFrom(t, R);
}

vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpRotationMatrix &R) : vpArray2D<double>(constr_val_6, constr_val_6) { buildFrom(R); }

vpVelocityTwistMatrix::vpVelocityTwistMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz)
  : vpArray2D<double>(constr_val_6, constr_val_6)
{
  vpTranslationVector t(tx, ty, tz);
  vpThetaUVector tu(tux, tuy, tuz);
  buildFrom(t, tu);
}

vpVelocityTwistMatrix vpVelocityTwistMatrix::operator*(const vpVelocityTwistMatrix &V) const
{
  vpVelocityTwistMatrix p;
  const unsigned int nparam = 6;
  for (unsigned int i = 0; i < nparam; ++i) {
    for (unsigned int j = 0; j < nparam; ++j) {
      double s = 0;
      for (unsigned int k = 0; k < nparam; ++k) {
        s += rowPtrs[i][k] * V.rowPtrs[k][j];
      }
      p[i][j] = s;
    }
  }
  return p;
}

vpMatrix vpVelocityTwistMatrix::operator*(const vpMatrix &M) const
{
  const unsigned int nparam = 6;
  if (nparam != M.getRows()) {
    throw(vpException(vpException::dimensionError, "Cannot multiply a (6x6) velocity twist matrix by a (%dx%d) matrix",
                      M.getRows(), M.getCols()));
  }
 
  vpMatrix p(nparam, M.getCols());
  unsigned int m_col = M.getCols();
  for (unsigned int i = 0; i < nparam; ++i) {
    for (unsigned int j = 0; j < m_col; ++j) {
      double s = 0;
      for (unsigned int k = 0; k < nparam; ++k) {
        s += rowPtrs[i][k] * M[k][j];
      }
      p[i][j] = s;
    }
  }
  return p;
}

vpColVector vpVelocityTwistMatrix::operator*(const vpColVector &v) const
{
  const unsigned int nparam = 6;
  vpColVector c(nparam);
 
  if (nparam != v.getRows()) {
    throw(vpException(vpException::dimensionError,
                      "Cannot multiply a (6x6) velocity twist matrix by a "
                      "(%d) column vector",
                      v.getRows()));
  }
 
  c = 0.0;
 
  for (unsigned int i = 0; i < nparam; ++i) {
    for (unsigned int j = 0; j < nparam; ++j) {
      c[i] += rowPtrs[i][j] * v[j];
    }
  }
 
  return c;
}

vpVelocityTwistMatrix &vpVelocityTwistMatrix::buildFrom(const vpRotationMatrix &R)
{
  const unsigned int index_3 = 3;
  const unsigned int val_3 = 3;
  for (unsigned int i = 0; i < val_3; ++i) {
    for (unsigned int j = 0; j < val_3; ++j) {
      (*this)[i][j] = R[i][j];
      (*this)[i + index_3][j + index_3] = R[i][j];
      (*this)[i][j + index_3] = 0;
    }
  }
  return *this;
}

vpVelocityTwistMatrix &vpVelocityTwistMatrix::buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
{
  vpMatrix skewaR = t.skew(t) * R;
 
  const unsigned int index_3 = 3;
  const unsigned int val_3 = 3;
  for (unsigned int i = 0; i < val_3; ++i) {
    for (unsigned int j = 0; j < val_3; ++j) {
      (*this)[i][j] = R[i][j];
      (*this)[i + index_3][j + index_3] = R[i][j];
      (*this)[i][j + index_3] = skewaR[i][j];
    }
  }
 
  return *this;
}

vpVelocityTwistMatrix &vpVelocityTwistMatrix::buildFrom(const vpTranslationVector &t, const vpThetaUVector &thetau)
{
  buildFrom(t, vpRotationMatrix(thetau));
  return *this;
}

vpVelocityTwistMatrix &vpVelocityTwistMatrix::buildFrom(const vpThetaUVector &thetau)
{
  buildFrom(vpRotationMatrix(thetau));
  return *this;
}

vpVelocityTwistMatrix &vpVelocityTwistMatrix::buildFrom(const vpHomogeneousMatrix &M, bool full)
{
  if (full) {
    buildFrom(M.getTranslationVector(), M.getRotationMatrix());
  }
  else {
    buildFrom(M.getRotationMatrix());
  }
 
  return *this;
}

vpVelocityTwistMatrix vpVelocityTwistMatrix::inverse() const
{
  vpVelocityTwistMatrix Wi;
  vpRotationMatrix R;
  extract(R);
  vpTranslationVector T;
  extract(T);
  vpTranslationVector RtT;
  RtT = -(R.t() * T);
 
  Wi.buildFrom(RtT, R.t());
 
  return Wi;
}

void vpVelocityTwistMatrix::inverse(vpVelocityTwistMatrix &V) const { V = inverse(); }

void vpVelocityTwistMatrix::extract(vpRotationMatrix &R) const
{
  const unsigned int val_3 = 3;
  for (unsigned int i = 0; i < val_3; ++i) {
    for (unsigned int j = 0; j < val_3; ++j) {
      R[i][j] = (*this)[i][j];
    }
  }
}

void vpVelocityTwistMatrix::extract(vpTranslationVector &tv) const
{
  vpRotationMatrix R;
  extract(R);
  vpMatrix skTR(3, 3);
  const unsigned int val_3 = 3;
  for (unsigned int i = 0; i < val_3; ++i) {
    for (unsigned int j = 0; j < val_3; ++j) {
      skTR[i][j] = (*this)[i][j + val_3];
    }
  }
 
  vpMatrix skT = skTR * R.t();
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  tv[index_0] = skT[index_2][index_1];
  tv[index_1] = skT[index_0][index_2];
  tv[index_2] = skT[index_1][index_0];
}

int vpVelocityTwistMatrix::print(std::ostream &s, unsigned int length, char const *intro) const
{
  typedef std::string::size_type size_type;
 
  unsigned int m = getRows();
  unsigned int n = getCols();
 
  std::vector<std::string> values(m * n);
  std::ostringstream oss;
  std::ostringstream ossFixed;
  std::ios_base::fmtflags original_flags = oss.flags();
 
  // --comment: could be used ossFixed << std::fixed
  ossFixed.setf(std::ios::fixed, std::ios::floatfield);
 
  size_type maxBefore = 0; // the length of the integral part
  size_type maxAfter = 0;  // number of decimals plus
  // one place for the decimal point
  for (unsigned int i = 0; i < m; ++i) {
    for (unsigned int j = 0; j < n; ++j) {
      oss.str("");
      oss << (*this)[i][j];
      if (oss.str().find("e") != std::string::npos) {
        ossFixed.str("");
        ossFixed << (*this)[i][j];
        oss.str(ossFixed.str());
      }
 
      values[(i * n) + j] = oss.str();
      size_type thislen = values[(i * n) + j].size();
      size_type p = values[(i * n) + j].find('.');
 
      if (p == std::string::npos) {
        maxBefore = vpMath::maximum(maxBefore, thislen);
        // maxAfter remains the same
      }
      else {
        maxBefore = vpMath::maximum(maxBefore, p);
        maxAfter = vpMath::maximum(maxAfter, thislen - p - 1);
      }
    }
  }
 
  size_type totalLength = length;
  // increase totalLength according to maxBefore
  totalLength = vpMath::maximum(totalLength, maxBefore);
  // decrease maxAfter according to totalLength
  maxAfter = std::min<size_type>(maxAfter, totalLength - maxBefore);
  if (maxAfter == 1) {
    maxAfter = 0;
  }
 
  // the following line is useful for debugging
  // std::cerr <<totalLength <<" " <<maxBefore <<" " <<maxAfter <<"\n";
 
  if (intro) {
    s << intro;
  }
  s << "[" << m << "," << n << "]=\n";
 
  for (unsigned int i = 0; i < m; ++i) {
    s << "  ";
    for (unsigned int j = 0; j < n; ++j) {
      size_type p = values[(i * n) + j].find('.');
      s.setf(std::ios::right, std::ios::adjustfield);
      s.width(static_cast<std::streamsize>(maxBefore));
      s << values[(i * n) + j].substr(0, p).c_str();
 
      if (maxAfter > 0) {
        s.setf(std::ios::left, std::ios::adjustfield);
        if (p != std::string::npos) {
          s.width(static_cast<std::streamsize>(maxAfter));
          s << values[(i * n) + j].substr(p, maxAfter).c_str();
        }
        else {
          assert(maxAfter > 1);
          s.width(static_cast<std::streamsize>(maxAfter));
          s << ".0";
        }
      }
 
      s << ' ';
    }
    s << std::endl;
  }
 
  s.flags(original_flags); // restore s to standard state
 
  return static_cast<int>(maxBefore + maxAfter);
}
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

void vpVelocityTwistMatrix::setIdentity() { eye(); }
 
#endif // #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
END_VISP_NAMESPACE