C++ sig::Matrix类代码示例

void iCubShoulderConstr::appendMatrixRow(yarp::sig::Matrix &dest,
                                         const yarp::sig::Vector &row)
{
    yarp::sig::Matrix tmp;

    // if dest is already filled with something
    if (dest.rows())
    {   
        // exit if lengths do not match     
        if (row.length()!=dest.cols())
            return;

        tmp.resize(dest.rows()+1,dest.cols());

        // copy the content of dest in temp
        for (int i=0; i<dest.rows(); i++)
            for (int j=0; j<dest.cols(); j++)
                tmp(i,j)=dest(i,j);

        // reassign dest
        dest=tmp;
    }
    else
        dest.resize(1,row.length());

    // append the last row
    for (int i=0; i<dest.cols(); i++)
        dest(dest.rows()-1,i)=row[i];
}

bool idynInertia2kdlRotationalInertia(const yarp::sig::Matrix & idynInertia,KDL::RotationalInertia & kdlRotationalInertia)
{
    if(idynInertia.cols() != 3 || idynInertia.rows() != 3 ) return false;
    //if(idynInertia(0,1) != idynInertia(1,0) || idynInertia(0,2) != idynInertia(2,0) || idynInertia(1,2) != idynInertia(2,1)) return false;
    kdlRotationalInertia = KDL::RotationalInertia(idynInertia(0,0),idynInertia(1,1),idynInertia(2,2),idynInertia(0,1),idynInertia(0,2),idynInertia(1,2));
    return true;
}

bool Matrix_write(const std::string file_name, const yarp::sig::Matrix & mat)
{
    FILE * fp;
    uint32_t rows,cols;
    double elem;
    
    rows = mat.rows();
    cols = mat.cols();
    
    fp = fopen(file_name.c_str(),"wb");
    if( fp == NULL ) return false;
    
    //writing dimensions informations
    fwrite(&rows,sizeof(uint32_t),1,fp);
    fwrite(&cols,sizeof(uint32_t),1,fp);

    for(size_t i=0;i<rows;i++) {
        for(size_t j=0;j<cols;j++ ) {
            elem = mat(i,j);
            fwrite(&elem,sizeof(double),1,fp);
         }
     }
    /*
    if( gsl_matrix_fwrite(fp,(gsl_matrix*)mat.getGslMatrix()) == GSL_EFAILED ) {
        fclose(fp);
        return false;
    }*/
    fclose(fp);
    return true;
}

yarp::sig::Matrix localSE3inv(const yarp::sig::Matrix &H, unsigned int verbose)
{
    if ((H.rows()<4) || (H.cols()<4))
    {
        if (verbose)
            fprintf(stderr,"localSE3inv() failed\n");

        return yarp::sig::Matrix(0,0);
    }

    yarp::sig::Matrix invH(4,4);
    yarp::sig::Vector p(3);

    yarp::sig::Matrix Rt=H.submatrix(0,2,0,2).transposed();
    p[0]=H(0,3);
    p[1]=H(1,3);
    p[2]=H(2,3);

    p=Rt*p;

    for (unsigned int i=0; i<3; i++)
        for (unsigned int j=0; j<3; j++)
            invH(i,j)=Rt(i,j);

    invH(0,3)=-p[0];
    invH(1,3)=-p[1];
    invH(2,3)=-p[2];
    invH(3,3)=1.0;

    return invH;
}

//creates a full transform as given by a DCM matrix at the pos and norm w.r.t. the original frame, from the pos and norm (one axis set arbitrarily)  
bool AvoidanceHandlerAbstract::computeFoR(const yarp::sig::Vector &pos, const yarp::sig::Vector &norm, yarp::sig::Matrix &FoR)
{
    if (norm == zeros(3))
    {
        FoR=eye(4);
        return false;
    }
        
    yarp::sig::Vector x(3,0.0), z(3,0.0), y(3,0.0);

    z = norm;
    if (z[0] == 0.0)
    {
        z[0] = 0.00000001;    // Avoid the division by 0
    }
    y[0] = -z[2]/z[0]; //y is in normal plane
    y[2] = 1; //this setting is arbitrary
    x = -1*(cross(z,y));

    // Let's make them unitary vectors:
    x = x / yarp::math::norm(x);
    y = y / yarp::math::norm(y);
    z = z / yarp::math::norm(z);
 
    FoR=eye(4);
    FoR.setSubcol(x,0,0);
    FoR.setSubcol(y,0,1);
    FoR.setSubcol(z,0,2);
    FoR.setSubcol(pos,0,3);

    return true;
}

Vector yarp::math::dcm2ypr(const yarp::sig::Matrix &R)
{
    yAssert((R.rows() >= 3) && (R.cols() >= 3));

    Vector v(3); // yaw pitch roll

    if (R(0, 2)<1.0)
    {
        if (R(0, 2)>-1.0)
        {
            v[0] = atan2(-R(0, 1), R(0, 0));
            v[1] = asin(R(0, 2));
            v[2] = atan2(-R(1, 2), R(2, 2));
        }
        else // == -1
        {
            // Not a unique solution: psi-phi=atan2(-R12,R11)
            v[0] = 0.0;
            v[1] = -M_PI / 2.0;
            v[2] = -atan2(R(1, 0), R(1, 1));
        }
    }
    else // == +1
    {
        // Not a unique solution: psi+phi=atan2(-R12,R11)
        v[0] = 0.0;
        v[1] = M_PI / 2.0;
        v[2] = atan2(R(1, 0), R(1, 1));
    }

    return v;
}

bool KDLtoYarp(const KDL::Rotation & kdlRotation, yarp::sig::Matrix & yarpMatrix3_3)
{
    if( yarpMatrix3_3.rows() != 3 || yarpMatrix3_3.cols() != 3 ) { yarpMatrix3_3.resize(3,3); }
    //Both kdl and yarp store the rotation matrix in row major order
    memcpy(yarpMatrix3_3.data(),kdlRotation.data,3*3*sizeof(double));
    return true;
}

bool yarpWholeBodyModelV1::convertBasePose(const Frame &xBase, yarp::sig::Matrix & H_world_base)
{
    if( H_world_base.cols() != 4 || H_world_base.rows() != 4 )
        H_world_base.resize(4,4);
    xBase.get4x4Matrix(H_world_base.data());
    return true;
}

void RobotInterface::getVelocityState(yarp::sig::Matrix& outputVelocity)
{
	outputVelocity.resize(velocityState.rows(), velocityState.cols());
	for(int i = 0; i < outputVelocity.rows(); i++)
	{
		for(int d = 0; d < outputVelocity.cols(); d++) outputVelocity(i, d) = velocityState(i, d);
	}
}

void RobotInterface::getPressureState(yarp::sig::Matrix& outputPressure)
{
	outputPressure.resize(pressureState.rows(), pressureState.cols());
	for(int i = 0; i < outputPressure.rows(); i++)
	{
		for(int d = 0; d < outputPressure.cols(); d++) outputPressure(i, d) = pressureState(i, d);
	}
}

bool idynMatrix2kdlRotation(const yarp::sig::Matrix & idynMatrix, KDL::Rotation & kdlRotation)
{
    if(idynMatrix.cols() != 3 || idynMatrix.rows() != 3) return false;
    kdlRotation = KDL::Rotation(idynMatrix(0,0),idynMatrix(0,1),idynMatrix(0,2),
                                idynMatrix(1,0),idynMatrix(1,1),idynMatrix(1,2),
                                idynMatrix(2,0),idynMatrix(2,1),idynMatrix(2,2));
    return true;
}

void RobotInterface::getPositionState(yarp::sig::Matrix& outputPosition)
{
	outputPosition.resize(positionState.rows(), positionState.cols());
	for(int i = 0; i < outputPosition.rows(); i++)
	{
		for(int d = 0; d < outputPosition.cols(); d++) outputPosition(i, d) = positionState(i, d);
	}
}

void DictionaryLearning::printMatrixYarp(const yarp::sig::Matrix &A) 
{
    cout << endl;
    for (int i=0; i<A.rows(); i++) 
        for (int j=0; j<A.cols(); j++) 
            cout<<A(i,j)<<" ";
        cout<<endl;
    cout << endl;
}

void Quaternion::fromRotationMatrix(const yarp::sig::Matrix &R)
{
    if ((R.rows()<3) || (R.cols()<3))
    {
        yError("fromRotationMatrix() failed, matrix should be >= 3x3");
        yAssert(R.rows() >= 3 && R.cols() >= 3);
    }

    double tr = R(0, 0) + R(1, 1) + R(2, 2);

    if (tr>0.0)
    {
        double sqtrp1 = sqrt(tr + 1.0);
        double sqtrp12 = 2.0*sqtrp1;
        internal_data[0] = 0.5*sqtrp1;
        internal_data[1] = (R(2, 1) - R(1, 2)) / sqtrp12;
        internal_data[2] = (R(0, 2) - R(2, 0)) / sqtrp12;
        internal_data[3] = (R(1, 0) - R(0, 1)) / sqtrp12;
    }
    else if ((R(1, 1)>R(0, 0)) && (R(1, 1)>R(2, 2)))
    {
        double sqdip1 = sqrt(R(1, 1) - R(0, 0) - R(2, 2) + 1.0);
        internal_data[2] = 0.5*sqdip1;

        if (sqdip1>0.0)
            sqdip1 = 0.5 / sqdip1;

        internal_data[0] = (R(0, 2) - R(2, 0))*sqdip1;
        internal_data[1] = (R(1, 0) + R(0, 1))*sqdip1;
        internal_data[3] = (R(2, 1) + R(1, 2))*sqdip1;
    }
    else if (R(2, 2)>R(0, 0))
    {
        double sqdip1 = sqrt(R(2, 2) - R(0, 0) - R(1, 1) + 1.0);
        internal_data[3] = 0.5*sqdip1;

        if (sqdip1>0.0)
            sqdip1 = 0.5 / sqdip1;

        internal_data[0] = (R(1, 0) - R(0, 1))*sqdip1;
        internal_data[1] = (R(0, 2) + R(2, 0))*sqdip1;
        internal_data[2] = (R(2, 1) + R(1, 2))*sqdip1;
    }
    else
    {
        double sqdip1 = sqrt(R(0, 0) - R(1, 1) - R(2, 2) + 1.0);
        internal_data[1] = 0.5*sqdip1;

        if (sqdip1>0.0)
            sqdip1 = 0.5 / sqdip1;

        internal_data[0] = (R(2, 1) - R(1, 2))*sqdip1;
        internal_data[2] = (R(1, 0) + R(0, 1))*sqdip1;
        internal_data[3] = (R(0, 2) + R(2, 0))*sqdip1;
    }
}

bool Kalman::set_R(const yarp::sig::Matrix &_R)
{
    if ((_R.cols()==R.cols()) && (_R.rows()==R.rows()))
    {
        R=_R;
        return true;
    }
    else
        return false;
}