Visual Servoing Platform  version 3.2.0 under development (2018-12-09)
vpForceTwistMatrix Class Reference

#include <visp3/core/vpForceTwistMatrix.h>

+ Inheritance diagram for vpForceTwistMatrix:

Public Member Functions

 vpForceTwistMatrix ()
 
 vpForceTwistMatrix (const vpForceTwistMatrix &F)
 
 vpForceTwistMatrix (const vpHomogeneousMatrix &M, bool full=true)
 
 vpForceTwistMatrix (const vpTranslationVector &t, const vpRotationMatrix &R)
 
 vpForceTwistMatrix (const vpTranslationVector &t, const vpThetaUVector &thetau)
 
 vpForceTwistMatrix (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)
 
 vpForceTwistMatrix (const vpRotationMatrix &R)
 
 vpForceTwistMatrix (const vpThetaUVector &thetau)
 
virtual ~vpForceTwistMatrix ()
 
vpForceTwistMatrix buildFrom (const vpTranslationVector &t, const vpRotationMatrix &R)
 
vpForceTwistMatrix buildFrom (const vpTranslationVector &t, const vpThetaUVector &thetau)
 
vpForceTwistMatrix buildFrom (const vpHomogeneousMatrix &M, bool full=true)
 
vpForceTwistMatrix buildFrom (const vpRotationMatrix &R)
 
vpForceTwistMatrix buildFrom (const vpThetaUVector &thetau)
 
void eye ()
 
vpForceTwistMatrix operator* (const vpForceTwistMatrix &F) const
 
vpMatrix operator* (const vpMatrix &M) const
 
vpColVector operator* (const vpColVector &H) const
 
vpForceTwistMatrixoperator= (const vpForceTwistMatrix &H)
 
int print (std::ostream &s, unsigned int length, char const *intro=0) const
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
 
Deprecated functions
vp_deprecated void init ()
 
vp_deprecated void setIdentity ()
 
Inherited functionalities from vpArray2D
unsigned int getCols () const
 
double getMaxValue () const
 
double getMinValue () const
 
unsigned int getRows () const
 
unsigned int size () const
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
 
double * operator[] (unsigned int i)
 
double * operator[] (unsigned int i) const
 
vpArray2D< double > hadamard (const vpArray2D< double > &m) const
 

Static Public Member Functions

Inherited I/O from vpArray2D with Static Public Member Functions
static bool load (const std::string &filename, vpArray2D< double > &A, const bool binary=false, char *header=NULL)
 
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=NULL)
 
static bool save (const std::string &filename, const vpArray2D< double > &A, const bool binary=false, const char *header="")
 
static bool saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")
 

Public Attributes

double * data
 

Protected Attributes

unsigned int rowNum
 
unsigned int colNum
 
double ** rowPtrs
 
unsigned int dsize
 

Related Functions

(Note that these are not member functions.)

enum  vpGEMMmethod
 

Detailed Description

This class derived from vpArray2D<double> implements the 6 by 6 matrix which transforms force/torque from one frame to another. This matrix is also called force/torque twist transformation matrix.

The full force/torque twist transformation matrix allows to compute the force/torque at point a expressed in frame a knowing its force/torque at point b expressed in frame b. This matrix is defined as:

\[ ^a{\bf F}_b = \left[ \begin{array}{cc} ^a{\bf R}_b & {\bf 0}_{3\times 3}\\ {[^a{\bf t}_b]}_{\times} \; ^a{\bf R}_b & ^a{\bf R}_b \end{array} \right] \]

where $ ^a{\bf R}_b $ is a rotation matrix and $ ^a{\bf t}_b $ is a translation vector.

When the point where the velocity is expressed doesn't change, the matrix becomes block diagonal. It allows than to compute the force/torque at point b expressed in frame a knowing its force/torque at point b expressed in frame b :

\[ ^a{\bf F}_b = \left[ \begin{array}{cc} ^a{\bf R}_b & {\bf 0}_{3\times 3}\\ {\bf 0}_{3\times 3} & ^a{\bf R}_b \end{array} \right] \]

The code belows shows for example how to convert a force/torque skew from probe frame to a sensor frame.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpForceTwistMatrix.h>
int main()
{
// Twist transformation matrix from sensor to probe frame
// Force/torque sensor frame to probe frame transformation
// ... sMp need here to be initialized
sFp.buildFrom(sMp);
// Force/torque skew in the probe frame: fx,fy,fz,tx,ty,tz
vpColVector p_H(6);
// ... p_H should here have an initial value
// Force/torque skew in the sensor frame: fx,fy,fz,tx,ty,tz
vpColVector s_H(6);
// Compute the value of the force/torque in the sensor frame
s_H = sFp * p_H;
}
Examples:
testVirtuoseHapticBox.cpp.

Definition at line 115 of file vpForceTwistMatrix.h.

Constructor & Destructor Documentation

vpForceTwistMatrix::vpForceTwistMatrix ( )

Initialize a force/torque twist transformation matrix to identity.

Definition at line 89 of file vpForceTwistMatrix.cpp.

References eye().

vpForceTwistMatrix::vpForceTwistMatrix ( const vpForceTwistMatrix F)

Initialize a force/torque twist transformation matrix from another force/torque twist matrix.

Parameters
F: Force/torque twist matrix used as initializer.

Definition at line 98 of file vpForceTwistMatrix.cpp.

vpForceTwistMatrix::vpForceTwistMatrix ( const vpHomogeneousMatrix M,
bool  full = true 
)
explicit

Initialize a force/torque twist transformation matrix from an homogeneous matrix $M$ with

\[ {\bf M} = \left[\begin{array}{cc} {\bf R} & {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right] \]

Parameters
M: Homogeneous matrix $\bf M$ used to initialize the twist transformation matrix.
full: Boolean used to indicate which matrix should be filled.
  • When set to true, use the complete force/torque skew transformation:

    \[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {[{\bf t}]}_{\times} \; {\bf R} & {\bf R} \end{array} \right] \]

  • When set to false, use the block diagonal velocity skew transformation:

    \[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {{\bf 0}_{3 \times 3}} & {\bf R} \end{array} \right] \]

Definition at line 129 of file vpForceTwistMatrix.cpp.

References buildFrom(), and vpHomogeneousMatrix::getRotationMatrix().

vpForceTwistMatrix::vpForceTwistMatrix ( const vpTranslationVector t,
const vpRotationMatrix R 
)

Initialize a force/torque twist transformation matrix from a translation vector t and a rotation matrix R.

\[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {[{\bf t}]}_{\times} \; {\bf R} & {\bf R} \end{array} \right] \]

Parameters
t: Translation vector.
R: Rotation matrix.

Definition at line 200 of file vpForceTwistMatrix.cpp.

References buildFrom().

vpForceTwistMatrix::vpForceTwistMatrix ( const vpTranslationVector t,
const vpThetaUVector thetau 
)

Initialize a force/torque twist transformation matrix from a translation vector t and a rotation vector with $\theta u $ parametrization.

\[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {[{\bf t}]}_{\times} \; {\bf R} & {\bf R} \end{array} \right] \]

Parameters
t: Translation vector.
thetau: $\theta u$ rotation vector used to initialize $R$.

Definition at line 156 of file vpForceTwistMatrix.cpp.

References buildFrom().

vpForceTwistMatrix::vpForceTwistMatrix ( const double  tx,
const double  ty,
const double  tz,
const double  tux,
const double  tuy,
const double  tuz 
)

Initialize a force/torque twist transformation matrix from a translation vector ${\bf t}=(t_x, t_y, t_z)^T$ and a rotation vector with $\theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T $ parametrization.

\[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {[{\bf t}]}_{\times} \; {\bf R} & {\bf R} \end{array} \right] \]

Parameters
tx,ty,tz: Translation vector in meters.
tux,tuy,tuz: $\theta {\bf u}$ rotation vector expressed in radians used to initialize $R$.

Definition at line 245 of file vpForceTwistMatrix.cpp.

References buildFrom().

vpForceTwistMatrix::vpForceTwistMatrix ( const vpRotationMatrix R)

Initialize a force/torque block diagonal twist transformation matrix from a rotation matrix R.

\[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {{\bf 0}_{3 \times 3}} & {\bf R} \end{array} \right] \]

Parameters
R: Rotation matrix.

Definition at line 223 of file vpForceTwistMatrix.cpp.

References buildFrom().

vpForceTwistMatrix::vpForceTwistMatrix ( const vpThetaUVector thetau)

Initialize a force/torque block diagonal twist transformation matrix from a rotation vector with $\theta u $ parametrization.

\[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {{\bf 0}_{3 \times 3}} & {\bf R} \end{array} \right] \]

Parameters
thetau: $\theta u$ rotation vector used to initialize $R$.

Definition at line 179 of file vpForceTwistMatrix.cpp.

References buildFrom().

virtual vpForceTwistMatrix::~vpForceTwistMatrix ( )
inlinevirtual

Destructor.

Definition at line 138 of file vpForceTwistMatrix.h.

References operator*(), and vpArray2D< Type >::operator=().

Member Function Documentation

vpForceTwistMatrix vpForceTwistMatrix::buildFrom ( const vpTranslationVector t,
const vpRotationMatrix R 
)

Build a force/torque twist transformation matrix from a translation vector t and a rotation matrix R.

\[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {[{\bf t}]}_{\times} \; {\bf R} & {\bf R} \end{array} \right] \]

Parameters
t: Translation vector.
R: Rotation matrix.

Definition at line 402 of file vpForceTwistMatrix.cpp.

References vpTranslationVector::skew().

Referenced by buildFrom(), and vpForceTwistMatrix().

vpForceTwistMatrix vpForceTwistMatrix::buildFrom ( const vpTranslationVector tv,
const vpThetaUVector thetau 
)

Initialize a force/torque twist transformation matrix from a translation vector t and a rotation vector with $\theta u $ parametrization.

\[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {[{\bf t}]}_{\times} \; {\bf R} & {\bf R} \end{array} \right] \]

Parameters
tv: Translation vector.
thetau: $\theta {\bf u}$ rotation vector used to initialise $\bf R $.

Definition at line 465 of file vpForceTwistMatrix.cpp.

References buildFrom().

vpForceTwistMatrix vpForceTwistMatrix::buildFrom ( const vpHomogeneousMatrix M,
bool  full = true 
)

Initialize a force/torque twist transformation matrix from an homogeneous matrix $M$ with

\[ {\bf M} = \left[\begin{array}{cc} {\bf R} & {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right] \]

Parameters
M: Homogeneous matrix $M$ used to initialize the velocity twist transformation matrix.
full: Boolean used to indicate which matrix should be filled.
  • When set to true, use the complete force/torque skew transformation:

    \[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {[{\bf t}]}_{\times} \; {\bf R} & {\bf R} \end{array} \right] \]

  • When set to false, use the block diagonal velocity skew transformation:

    \[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {{\bf 0}_{3 \times 3}} & {\bf R} \end{array} \right] \]

Definition at line 523 of file vpForceTwistMatrix.cpp.

References buildFrom(), vpHomogeneousMatrix::getRotationMatrix(), and vpHomogeneousMatrix::getTranslationVector().

vpForceTwistMatrix vpForceTwistMatrix::buildFrom ( const vpRotationMatrix R)

Build a block diagonal force/torque twist transformation matrix from a rotation matrix R.

\[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {{\bf 0}_{3 \times 3}} & {\bf R} \end{array} \right] \]

Parameters
R: Rotation matrix.

Definition at line 433 of file vpForceTwistMatrix.cpp.

vpForceTwistMatrix vpForceTwistMatrix::buildFrom ( const vpThetaUVector thetau)

Initialize a force/torque block diagonal twist transformation matrix from a rotation vector with $\theta u $ parametrization.

\[ {\bf F} = \left[ \begin{array}{cc} {\bf R} & {\bf 0}_{3 \times 3} \\ {{\bf 0}_{3 \times 3}} & {\bf R} \end{array} \right] \]

Parameters
thetau: $\theta {\bf u}$ rotation vector used to initialise $\bf R $.

Definition at line 489 of file vpForceTwistMatrix.cpp.

References buildFrom().

void vpForceTwistMatrix::eye ( )

Initialize the force/torque 6 by 6 twist matrix to identity.

Definition at line 74 of file vpForceTwistMatrix.cpp.

Referenced by setIdentity(), and vpForceTwistMatrix().

double vpArray2D< double >::getMaxValue ( ) const
inherited

Return the array max value.

Examples:
servoMomentImage.cpp, testArray2D.cpp, and testMatrix.cpp.
double vpArray2D< double >::getMinValue ( ) const
inherited

Return the array min value.

Examples:
servoMomentImage.cpp, testArray2D.cpp, and testMatrix.cpp.
vpArray2D<double > vpArray2D< double >::hadamard ( const vpArray2D< double > &  m) const
inherited

Compute the Hadamard product (element wise matrix multiplication).

Parameters
m: Second matrix;
Returns
m1.hadamard(m2) The Hadamard product : $ m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j} $
Examples:
testArray2D.cpp.
vp_deprecated void vpForceTwistMatrix::init ( )
inline
Deprecated:
Provided only for compat with previous releases. This function does nothing.

Definition at line 182 of file vpForceTwistMatrix.h.

static bool vpArray2D< double >::load ( const std::string &  filename,
vpArray2D< double > &  A,
const bool  binary = false,
char *  header = NULL 
)
inlinestaticinherited

Load a matrix from a file.

Parameters
filename: Absolute file name.
A: Array to be loaded
binary: If true the matrix is loaded from a binary file, else from a text file.
header: Header of the file is loaded in this parameter.
Returns
Returns true if success.
See also
save()

Definition at line 316 of file vpArray2D.h.

References vpException::badValue, and vpArray2D< Type >::resize().

static bool vpArray2D< double >::loadYAML ( const std::string &  filename,
vpArray2D< double > &  A,
char *  header = NULL 
)
inlinestaticinherited

Load an array from a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be loaded from the file.
header: header of the file is loaded in this parameter.
Returns
Returns true on success.
See also
saveYAML()
Examples:
servoFrankaPBVS.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 424 of file vpArray2D.h.

References vpArray2D< Type >::resize().

vpForceTwistMatrix vpForceTwistMatrix::operator* ( const vpForceTwistMatrix F) const

Operator that allows to multiply a force/torque twist transformation matrix by an other force/torque skew transformation matrix.

#include <visp3/core/vpForceTwistMatrix.h>
int main()
{
// ... initialize the force/torque twist transformations aFb and bFc
// Compute the force/torque transformation from frame a to c
vpForceTwistMatrix aFc = aFb * bFc;
}

Definition at line 272 of file vpForceTwistMatrix.cpp.

References vpArray2D< double >::rowPtrs, and vpArray2D< Type >::rowPtrs.

vpMatrix vpForceTwistMatrix::operator* ( const vpMatrix M) const

Operator that allows to multiply a force/torque skew transformation matrix by a matrix.

Exceptions
vpException::dimensionError: If $\bf M$ is not a 6 rows dimension matrix.

Definition at line 294 of file vpForceTwistMatrix.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and vpArray2D< double >::rowPtrs.

vpColVector vpForceTwistMatrix::operator* ( const vpColVector H) const

Operator that allows to multiply a force/torque skew transformation matrix by a column vector.

Parameters
H: Force/torque skew vector ${\bf H} = [f_x, f_y, f_z, \tau_x, \tau_y, \tau_z] $.

For example, this operator can be used to convert a force/torque skew from sensor frame into the probe frame :

\[{^p}{\bf H}_{p} = {^p}{\bf F}_s \; {^s}{\bf H}_s\]

The example below shows how to handle that transformation.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpForceTwistMatrix.h>
#include <visp3/robot/vpRobotViper850.h>
int main()
{
#ifdef VISP_HAVE_VIPER850
vpColVector sH = robot.getForceTorque(sH); // Get the force/torque measures
#endif
// Set the transformation from sensor frame to the probe frame
pMs[2][3] = -0.262; // tz only
// Set the force/torque twist transformation
vpForceTwistMatrix pFs(pMs); // Twist transformation matrix from probe to sensor frame
// Compute the resulting force/torque in the probe frame
vpColVector pH(6); // Force/torque in the probe frame
pH = pFs * sH;
return 0;
}
Exceptions
vpException::dimensionErrorIf $ \bf H $is not a 6 dimension vector.

Definition at line 361 of file vpForceTwistMatrix.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), and vpArray2D< double >::rowPtrs.

vpForceTwistMatrix & vpForceTwistMatrix::operator= ( const vpForceTwistMatrix M)

Copy operator.

Parameters
M: Force/torque twist matrix to copy.

Definition at line 60 of file vpForceTwistMatrix.cpp.

References vpArray2D< double >::rowPtrs, and vpArray2D< Type >::rowPtrs.

double * vpArray2D< double >::operator[] ( unsigned int  i)
inlineinherited

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 262 of file vpArray2D.h.

double * vpArray2D< double >::operator[] ( unsigned int  i) const
inlineinherited

Get element $x = A_{ij}$ using x = A[i][j].

Definition at line 264 of file vpArray2D.h.

int vpForceTwistMatrix::print ( std::ostream &  s,
unsigned int  length,
char const *  intro = 0 
) const

Pretty print a force/torque twist matrix. The data are tabulated. The common widths before and after the decimal point are set with respect to the parameter maxlen.

Parameters
sStream used for the printing.
lengthThe suggested width of each matrix element. The actual width grows in order to accomodate the whole integral part, and shrinks if the whole extent is not needed for all the numbers.
introThe introduction which is printed before the matrix. Can be set to zero (or omitted), in which case the introduction is not printed.
Returns
Returns the common total width for all matrix elements
See also
std::ostream &operator <<(ostream &s,const vpMatrix &m)

Definition at line 552 of file vpForceTwistMatrix.cpp.

References vpArray2D< double >::getCols(), vpArray2D< double >::getRows(), and vpMath::maximum().

void vpForceTwistMatrix::resize ( const unsigned int  nrows,
const unsigned int  ncols,
const bool  flagNullify = true 
)
inline

This function is not applicable to a velocity twist matrix that is always a 6-by-6 matrix.

Exceptions
vpException::fatalErrorWhen this function is called.

Definition at line 165 of file vpForceTwistMatrix.h.

References vpException::fatalError.

void vpArray2D< double >::resize ( const unsigned int  nrows,
const unsigned int  ncols,
const bool  flagNullify = true,
const bool  recopy_ = true 
)
inlineinherited

Set the size of the array and initialize all the values to zero.

Parameters
nrows: number of rows.
ncols: number of column.
flagNullify: if true, then the array is re-initialized to 0 after resize. If false, the initial values from the common part of the array (common part between old and new version of the array) are kept. Default value is true.
recopy_: if true, will perform an explicit recopy of the old data if needed and if flagNullify is set to false.
Examples:
testArray2D.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 171 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::dsize, vpException::memoryAllocationError, vpArray2D< Type >::rowNum, and vpArray2D< Type >::rowPtrs.

Referenced by vpMatrix::diag(), vpMatrix::eye(), vpMatrix::init(), vpMatrix::operator=(), and vpMatrix::stack().

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< double > &  A,
const bool  binary = false,
const char *  header = "" 
)
inlinestaticinherited

Save a matrix to a file.

Parameters
filename: Absolute file name.
A: Array to be saved.
binary: If true the matrix is saved in a binary file, else a text file.
header: Optional line that will be saved at the beginning of the file.
Returns
Returns true if success.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

See also
load()

Definition at line 506 of file vpArray2D.h.

References vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

static bool vpArray2D< double >::saveYAML ( const std::string &  filename,
const vpArray2D< double > &  A,
const char *  header = "" 
)
inlinestaticinherited

Save an array in a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be saved in the file.
header: optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.
Returns
Returns true if success.

Here is an example of outputs.

vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n - a YAML-formatted
header\n - with inner indentation");

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]

Content of matrixIndent.yml:

example:
- a YAML-formatted header
- with inner indentation
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
See also
loadYAML()
Examples:
tutorial-chessboard-pose.cpp, tutorial-franka-acquire-calib-data.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 595 of file vpArray2D.h.

References vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

void vpForceTwistMatrix::setIdentity ( )
Deprecated:
You should rather use eye().
Deprecated:
You should rather use eye().

Set the twist transformation matrix to identity.

See also
eye()

Definition at line 647 of file vpForceTwistMatrix.cpp.

References eye().

Friends And Related Function Documentation

enum vpGEMMmethod
related

Enumeration of the operations applied on matrices in vpGEMM() function.

Operations are :

  • VP_GEMM_A_T to use the transpose matrix of A instead of the matrix A
  • VP_GEMM_B_T to use the transpose matrix of B instead of the matrix B
  • VP_GEMM_C_T to use the transpose matrix of C instead of the matrix C

Definition at line 57 of file vpGEMM.h.

Member Data Documentation

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 76 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpMatrix::eye(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholesky(), vpMatrix::inverseTriangular(), vpRotationMatrix::operator*(), vpRowVector::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpRowVector::operator*=(), vpMatrix::operator*=(), vpRowVector::operator+(), vpRowVector::operator+=(), vpMatrix::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpMatrix::operator-=(), vpRowVector::operator/(), vpMatrix::operator/(), vpRowVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpColVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpRowVector::reshape(), vpMatrix::setIdentity(), vpMatrix::solveByQR(), vpMatrix::solveBySVD(), vpMatrix::stack(), vpRowVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpRowVector::sum(), vpMatrix::sum(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), vpRowVector::t(), vpMatrix::t(), vpMatrix::transpose(), vpColVector::vpColVector(), and vpMatrix::vpMatrix().

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

Examples:
testArray2D.cpp, testDisplacement.cpp, testImageFilter.cpp, testMatrix.cpp, testPoseVector.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 84 of file vpArray2D.h.

Referenced by vpMatrix::AtA(), vpQuaternionVector::buildFrom(), vpHomogeneousMatrix::buildFrom(), vpRzyzVector::buildFrom(), vpThetaUVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), vpMatrix::detByLU(), vpTranslationVector::euclideanNorm(), vpRowVector::euclideanNorm(), vpMatrix::euclideanNorm(), vpMatrix::expm(), vpThetaUVector::extract(), vpMatrix::getRow(), vpThetaUVector::getTheta(), vpThetaUVector::getU(), vpColVector::hadamard(), vpMatrix::hadamard(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpColVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholesky(), vpTranslationVector::operator*(), vpRowVector::operator*(), vpColVector::operator*(), vpHomography::operator*(), vpMatrix::operator*(), vpTranslationVector::operator-(), vpRowVector::operator-(), vpColVector::operator-(), vpTranslationVector::operator/(), vpRowVector::operator/(), vpColVector::operator/(), vpHomography::operator/(), vpHomography::operator/=(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpThetaUVector::operator=(), vpColVector::operator==(), vpColVector::operator[](), vpMatrix::qr(), vpMatrix::qrPivot(), vpRowVector::reshape(), vpColVector::reshape(), vpQuaternionVector::set(), vpMatrix::stack(), vpMatrix::stackRows(), vpColVector::sum(), vpColVector::sumSquare(), vpRotationVector::t(), vpTranslationVector::t(), vpPoseVector::t(), vpRowVector::t(), vpColVector::t(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), vpColVector::toStdVector(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), vpQuaternionVector::z(), vpSubColVector::~vpSubColVector(), vpSubMatrix::~vpSubMatrix(), and vpSubRowVector::~vpSubRowVector().

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 74 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpColVector::extract(), vpMatrix::eye(), vpColVector::hadamard(), vpMatrix::hadamard(), vpColVector::infinityNorm(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::insert(), vpMatrix::inverseByCholesky(), vpMatrix::inverseTriangular(), vpRotationMatrix::operator*(), vpTranslationVector::operator*(), vpHomogeneousMatrix::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpTranslationVector::operator*=(), vpColVector::operator*=(), vpMatrix::operator*=(), vpColVector::operator+(), vpColVector::operator+=(), vpMatrix::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpMatrix::operator-=(), vpColVector::operator/(), vpMatrix::operator/(), vpTranslationVector::operator/=(), vpColVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpColVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpColVector::reshape(), vpMatrix::setIdentity(), vpMatrix::stack(), vpColVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpColVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), vpTranslationVector::sumSquare(), vpColVector::sumSquare(), vpMatrix::sumSquare(), vpTranslationVector::t(), vpPoseVector::t(), vpColVector::t(), vpMatrix::t(), vpMatrix::transpose(), vpColVector::vpColVector(), and vpMatrix::vpMatrix().