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Visual Servoing Platform
version 3.2.0
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#include <vpExponentialMap.h>
Static Public Member Functions | |
static vpHomogeneousMatrix | direct (const vpColVector &v) |
static vpHomogeneousMatrix | direct (const vpColVector &v, const double &delta_t) |
static vpColVector | inverse (const vpHomogeneousMatrix &M) |
static vpColVector | inverse (const vpHomogeneousMatrix &M, const double &delta_t) |
Direct or inverse exponential map computation.
The exponential map gives the relationship between the velocity of a moving body and its displacement:
where is the velocity skew vector applied during
seconds at point
in frame
, while
is the corresponding displacement.
This class allows to compute the direct or the inverse exponential map.
A displacement is represented as an homogeneous matrix implemented in vpHomogeneousMatrix. A velocities
is represented as a 6 dimension velocity skew vector
, where
is a velocity translation vector with values in m/s and
a velocity rotation vector with values expressed in rad/s.
Definition at line 92 of file vpExponentialMap.h.
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Compute the exponential map. The inverse function is inverse(). The sampling time is here set to 1 second. To use an other value you should use direct(const vpColVector &, const double &).
v | : Instantaneous velocity skew represented by a 6 dimension vector ![]() ![]() ![]() |
Definition at line 58 of file vpExponentialMap.cpp.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), and vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation().
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Compute the exponential map. The inverse function is inverse().
v | : Instantaneous velocity skew represented by a 6 dimension vector ![]() ![]() ![]() |
delta_t | : Sampling time ![]() ![]() |
Definition at line 78 of file vpExponentialMap.cpp.
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static |
Computes an instantaneous velocity skew from an homogeneous matrix. The inverse function is the exponential map, see direct().
M | : An homogeneous matrix corresponding to the displacement of an object during 1 second. |
Definition at line 196 of file vpExponentialMap.cpp.
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Compute an instantaneous velocity from an homogeneous matrix. The inverse function is the exponential map, see direct().
M | : An homogeneous matrix corresponding to the displacement of an object during ![]() |
delta_t | : Sampling time ![]() |
Definition at line 215 of file vpExponentialMap.cpp.