/usr/include/visp/vpForceTwistMatrix.h is in libvisp-dev 2.8.0-4.
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*
* $Id: vpForceTwistMatrix.h 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 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://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* 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:
* Twist transformation matrix that allows to transform forces from one
* frame to an other.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#ifndef vpForceTwistMatrix_h
#define vpForceTwistMatrix_h
#include <visp/vpMatrix.h>
#include <visp/vpColVector.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRotationMatrix.h>
/*!
\class vpForceTwistMatrix
\ingroup TwistTransformation
\brief Class that consider the particular case of twist
transformation matrix that allows to transform a force/troque vector
from one frame to an other.
The vpForceTwistMatrix is derived from vpMatrix.
The twist transformation matrix that allows to transform the
force/torque vector expressed at frame \f${\cal F}_b\f$ into the
frame \f${\cal F}_a\f$ is a 6 by 6 matrix defined as
\f[
^a{\bf F}_b = \left[ \begin{array}{cc}
^a{\bf R}_b & {\bf 0}_{3\times 3}\\
{[^a{\bf t}_b]}_{\times} \; ^a{\bf R}_b & ^a{\bf R}_b
\end{array}
\right]
\f]
\f$ ^a{\bf R}_b \f$ is a rotation matrix and
\f$ ^a{\bf t}_b \f$ is a translation vector.
The code belows shows for example how to convert a force/torque skew
from probe frame to a sensor frame.
\code
#include <visp/vpColVector.h>
#include <visp/vpForceTwistMatrix.h>
int main()
{
vpForceTwistMatrix sFp; // Twist transformation matrix from sensor to probe frame
vpHomogeneousMatrix sMp; // Force/torque sensor frame to probe frame transformation
// ... sMp need here to be initialized
sFp.buildFrom(sMp);
vpColVector p_H(6); // Force/torque skew in the probe frame: fx,fy,fz,tx,ty,tz
// ... p_H should here have an initial value
vpColVector s_H(6); // Force/torque skew in the sensor frame: fx,fy,fz,tx,ty,tz
// Compute the value of the force/torque in the sensor frame
s_H = sFp * p_H;
}
\endcode
*/
class VISP_EXPORT vpForceTwistMatrix : public vpMatrix
{
friend class vpMatrix;
public:
// basic constructor
vpForceTwistMatrix() ;
// copy constructor
vpForceTwistMatrix(const vpForceTwistMatrix &F) ;
// constructor from an homogeneous transformation
vpForceTwistMatrix(const vpHomogeneousMatrix &M) ;
// Construction from Translation and rotation (ThetaU parameterization)
vpForceTwistMatrix(const vpTranslationVector &t, const vpThetaUVector &thetau) ;
// Construction from Translation and rotation (matrix parameterization)
vpForceTwistMatrix(const vpTranslationVector &t, const vpRotationMatrix &R) ;
vpForceTwistMatrix(const double tx, const double ty, const double tz,
const double tux, const double tuy, const double tuz) ;
// Basic initialisation (identity)
void init() ;
vpForceTwistMatrix buildFrom(const vpTranslationVector &t,
const vpRotationMatrix &R);
vpForceTwistMatrix buildFrom(const vpTranslationVector &t,
const vpThetaUVector &thetau);
vpForceTwistMatrix buildFrom(const vpHomogeneousMatrix &M) ;
// Basic initialisation (identity)
void setIdentity() ;
vpForceTwistMatrix operator*(const vpForceTwistMatrix &F) const ;
vpMatrix operator*(const vpMatrix &M) const ;
vpColVector operator*(const vpColVector &H) const ;
// copy operator from vpMatrix (handle with care)
vpForceTwistMatrix &operator=(const vpForceTwistMatrix &H);
} ;
#endif
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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