50 #include <visp/vpConfig.h>
51 #include <visp/vpDebug.h>
56 #include <visp/vpMath.h>
57 #include <visp/vpMatrix.h>
58 #include <visp/vpColVector.h>
59 #include <visp/vpRxyzVector.h>
60 #include <visp/vpTranslationVector.h>
61 #include <visp/vpRotationMatrix.h>
62 #include <visp/vpVelocityTwistMatrix.h>
63 #include <visp/vpParseArgv.h>
66 #define GETOPTARGS "h"
73 void usage(
const char *name,
const char *badparam)
76 Tests some vpMatrix functionalities.\n\
87 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
96 bool getOptions(
int argc,
const char **argv)
103 case 'h': usage(argv[0], NULL);
return false;
break;
106 usage(argv[0], optarg);
111 if ((c == 1) || (c == -1)) {
113 usage(argv[0], NULL);
114 std::cerr <<
"ERROR: " << std::endl;
115 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
124 main(
int argc,
const char ** argv)
127 if (getOptions(argc, argv) ==
false) {
131 vpTRACE(
"--------------------------");
132 vpTRACE(
"--- TEST vpVelocityTwistMatrix ---");
133 vpTRACE(
"--------------------------");
154 cVe.print (std::cout, 6);
168 ev.print (std::cout, 6);
176 cv.
print (std::cout, 6);
int print(std::ostream &s, unsigned int length, char const *intro=0)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
The vpRotationMatrix considers the particular case of a rotation matrix.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
Class that consider the case of a translation vector.