vpPoseVector.h

/*
 * 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:
 * Pose object. A pose is a size 6 vector [t, tu]^T where tu is
 * a rotation vector (theta u representation) and t is a translation vector.
 */

 
#ifndef VP_POSE_VECTOR_H
#define VP_POSE_VECTOR_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
 
BEGIN_VISP_NAMESPACE
class vpRotationMatrix;
class vpHomogeneousMatrix;
class vpTranslationVector;
class vpThetaUVector;
class vpRowVector;

class VISP_EXPORT vpPoseVector : public vpArray2D<double>
{
public:
  // constructor
  vpPoseVector();
  // constructor from 3 angles (in radian)
  vpPoseVector(double tx, double ty, double tz, double tux, double tuy, double tuz);
  // constructor convert an homogeneous matrix in a pose
  VP_EXPLICIT vpPoseVector(const vpHomogeneousMatrix &M);
  // constructor  convert a translation and a "thetau" vector into a pose
  vpPoseVector(const vpTranslationVector &tv, const vpThetaUVector &tu);
  // constructor  convert a translation and a rotation matrix into a pose
  vpPoseVector(const vpTranslationVector &tv, const vpRotationMatrix &R);
 
  vpPoseVector &buildFrom(const double &tx, const double &ty, const double &tz, const double &tux, const double &tuy, const double &tuz);
  // convert an homogeneous matrix in a pose
  vpPoseVector &buildFrom(const vpHomogeneousMatrix &M);
  //  convert a translation and a "thetau" vector into a pose
  vpPoseVector &buildFrom(const vpTranslationVector &tv, const vpThetaUVector &tu);
  //  convert a translation and a rotation matrix into a pose
  vpPoseVector &buildFrom(const vpTranslationVector &tv, const vpRotationMatrix &R);
 
  void extract(vpRotationMatrix &R) const;
  void extract(vpThetaUVector &tu) const;
  void extract(vpTranslationVector &tv) const;
  void extract(vpQuaternionVector &q) const;
 
  vpRotationMatrix getRotationMatrix() const;
  vpThetaUVector getThetaUVector() const;
  vpTranslationVector getTranslationVector() const;
 
  // Load an homogeneous matrix from a file
  void load(std::ifstream &f);

  inline double &operator[](unsigned int i) { return *(data + i); }
  inline const double &operator[](unsigned int i) const { return *(data + i); }
 
  // Print  a vector [T thetaU] thetaU in degree
  void print() const;
  int print(std::ostream &s, unsigned int length, char const *intro = nullptr) const;

  VP_NORETURN void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
  {
    (void)nrows;
    (void)ncols;
    (void)flagNullify;
    throw(vpException(vpException::fatalError, "Cannot resize a pose vector"));
  }
 
  // Save an homogeneous matrix in a file
  void save(std::ofstream &f) const;
  void set(double tx, double ty, double tz, double tux, double tuy, double tuz);
  vpRowVector t() const;
 
  std::vector<double> toStdVector() const;
 
#ifdef VISP_HAVE_NLOHMANN_JSON
public:
  static const std::string jsonTypeName;
private:
  friend void to_json(nlohmann::json &j, const vpPoseVector &cam);
  friend void from_json(const nlohmann::json &j, vpPoseVector &cam);
  // Conversion helper function to avoid circular dependencies and MSVC errors that are not exported in the DLL
  void parse_json(const nlohmann::json &j);
  void convert_to_json(nlohmann::json &j) const;
public:
#endif
 
private:
  static const unsigned int constr_value_6;
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

  VP_DEPRECATED void init() { }
#endif
};
 
#ifdef VISP_HAVE_NLOHMANN_JSON
#include VISP_NLOHMANN_JSON(json.hpp)
inline void to_json(nlohmann::json &j, const vpPoseVector &r)
{
  r.convert_to_json(j);
}
 
inline void from_json(const nlohmann::json &j, vpPoseVector &r)
{
  r.parse_json(j);
}
#endif
END_VISP_NAMESPACE
#endif