Visual Servoing Platform version 3.5.0
vpThetaUVector.cpp
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30 *
31 * Description:
32 * Theta U parameterization for the rotation.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
45#include <cmath> // std::fabs
46#include <limits> // numeric_limits
47
48#include <visp3/core/vpThetaUVector.h>
49
50const double vpThetaUVector::minimum = 0.0001;
51
58{
59 buildFrom(tu);
60}
73
90
107vpThetaUVector::vpThetaUVector(double tux, double tuy, double tuz) : vpRotationVector(3)
108{
109 buildFrom(tux, tuy, tuz);
110}
111
115vpThetaUVector::vpThetaUVector(const std::vector<double> &tu)
116{
117 buildFrom(tu);
118}
119
124{
126
127 M.extract(R);
128 buildFrom(R);
129
130 return *this;
131}
137{
138 for (unsigned int i = 0; i < 3; i++)
139 data[i] = p[i + 3];
140
141 return *this;
142}
143
148{
149 double s, c, theta;
150
151 s = (R[1][0] - R[0][1]) * (R[1][0] - R[0][1]) + (R[2][0] - R[0][2]) * (R[2][0] - R[0][2]) +
152 (R[2][1] - R[1][2]) * (R[2][1] - R[1][2]);
153 s = sqrt(s) / 2.0;
154 c = (R[0][0] + R[1][1] + R[2][2] - 1.0) / 2.0;
155 theta = atan2(s, c); /* theta in [0, PI] since s > 0 */
156
157 // General case when theta != pi. If theta=pi, c=-1
158 if ((1 + c) > minimum) // Since -1 <= c <= 1, no fabs(1+c) is required
159 {
160 double sinc = vpMath::sinc(s, theta);
161
162 data[0] = (R[2][1] - R[1][2]) / (2 * sinc);
163 data[1] = (R[0][2] - R[2][0]) / (2 * sinc);
164 data[2] = (R[1][0] - R[0][1]) / (2 * sinc);
165 } else /* theta near PI */
166 {
167 double x = 0;
168 if ( (R[0][0]-c) > std::numeric_limits<double>::epsilon() )
169 x = sqrt((R[0][0]-c)/(1-c));
170
171 double y = 0;
172 if ( (R[1][1]-c) > std::numeric_limits<double>::epsilon() )
173 y = sqrt((R[1][1]-c)/(1-c));
174
175 double z = 0;
176 if ( (R[2][2]-c) > std::numeric_limits<double>::epsilon() )
177 z = sqrt((R[2][2]-c)/(1-c));
178
179 if(x > y && x > z)
180 {
181 if ((R[2][1]-R[1][2]) < 0) x = -x;
182 if(vpMath::sign(x)*vpMath::sign(y) != vpMath::sign(R[0][1]+R[1][0])) y = -y;
183 if(vpMath::sign(x)*vpMath::sign(z) != vpMath::sign(R[0][2]+R[2][0])) z = -z;
184 }
185 else if(y > z)
186 {
187 if((R[0][2]-R[2][0]) < 0) y = -y;
188 if(vpMath::sign(y)*vpMath::sign(x) != vpMath::sign(R[1][0]+R[0][1])) x = -x;
189 if(vpMath::sign(y)*vpMath::sign(z) != vpMath::sign(R[1][2]+R[2][1])) z = -z;
190 }
191 else
192 {
193 if((R[1][0]-R[0][1]) < 0) z = -z;
194 if(vpMath::sign(z)*vpMath::sign(x) != vpMath::sign(R[2][0]+R[0][2])) x = -x;
195 if(vpMath::sign(z)*vpMath::sign(y) != vpMath::sign(R[2][1]+R[1][2])) y = -y;
196 }
197 data[0] = theta*x;
198 data[1] = theta*y;
199 data[2] = theta*z;
200 }
201
202 return *this;
203}
208{
209 vpRotationMatrix R(rzyx);
210
211 buildFrom(R);
212 return *this;
213}
218{
219 vpRotationMatrix R(rzyz);
220
221 buildFrom(R);
222 return *this;
223}
228{
229 vpRotationMatrix R(rxyz);
230
231 buildFrom(R);
232 return *this;
233}
234
239{
240 vpRotationMatrix R(q);
241
242 buildFrom(R);
243 return *this;
244}
245
249vpThetaUVector vpThetaUVector::buildFrom(const std::vector<double> &tu)
250{
251 if (tu.size() != 3) {
252 throw(vpException(vpException::dimensionError, "Cannot construct a theta-u vector from a %d-dimension std::vector",
253 tu.size()));
254 }
255 for (unsigned int i = 0; i < 3; i++)
256 data[i] = tu[i];
257
258 return *this;
259}
260
265{
266 if (tu.size() != 3) {
267 throw(vpException(vpException::dimensionError, "Cannot construct a theta-u vector from a %d-dimension std::vector",
268 tu.size()));
269 }
270 for (unsigned int i = 0; i < 3; i++)
271 data[i] = tu[i];
272
273 return *this;
274}
275
298{
299 for (unsigned int i = 0; i < dsize; i++)
300 data[i] = v;
301
302 return *this;
303}
304
329{
330 if (tu.size() != size()) {
331 throw(vpException(vpException::dimensionError, "Cannot set a theta-u vector from a %d-dimension col vector",
332 tu.size()));
333 }
334 for (unsigned int i = 0; i < size(); i++)
335 data[i] = tu[i];
336
337 return *this;
338}
339
368void vpThetaUVector::extract(double &theta, vpColVector &u) const
369{
370 u.resize(3);
371
372 theta = getTheta();
373 // if (theta == 0) {
374 if (std::fabs(theta) <= std::numeric_limits<double>::epsilon()) {
375 u = 0;
376 return;
377 }
378 for (unsigned int i = 0; i < 3; i++)
379 u[i] = data[i] / theta;
380}
381
404double vpThetaUVector::getTheta() const { return sqrt(data[0] * data[0] + data[1] * data[1] + data[2] * data[2]); }
405
430{
431 vpColVector u(3);
432
433 double theta = getTheta();
434 // if (theta == 0) {
435 if (std::fabs(theta) <= std::numeric_limits<double>::epsilon()) {
436 u = 0;
437 return u;
438 }
439 for (unsigned int i = 0; i < 3; i++)
440 u[i] = data[i] / theta;
441 return u;
442}
443
447void vpThetaUVector::buildFrom(double tux, double tuy, double tuz)
448{
449 data[0] = tux;
450 data[1] = tuy;
451 data[2] = tuz;
452}
453
454#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
472vpThetaUVector &vpThetaUVector::operator=(const std::initializer_list<double> &list)
473{
474 if (list.size() > size()) {
475 throw(vpException(vpException::dimensionError, "Cannot set theta u vector out of bounds. It has only %d values while you try to initialize with %d values", size(), list.size()));
476 }
477 std::copy(list.begin(), list.end(), data);
478 return *this;
479}
480#endif
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:141
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ dimensionError
Bad dimension.
Definition: vpException.h:95
Implementation of an homogeneous matrix and operations on such kind of matrices.
void extract(vpRotationMatrix &R) const
static int() sign(double x)
static double sinc(double x)
Definition: vpMath.cpp:210
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
Implementation of a rotation vector as quaternion angle minimal representation.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a generic rotation vector.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyxVector.h:186
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:183
Implementation of a rotation vector as axis-angle minimal representation.
vpColVector getU() const
void extract(double &theta, vpColVector &u) const
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
vpThetaUVector & operator=(const vpColVector &tu)
double getTheta() const