#include <visp3/core/vpQuaternionVector.h>

Inheritance diagram for vpQuaternionVector:

Public Member Functions
	vpQuaternionVector ()

	vpQuaternionVector (const vpQuaternionVector &q)

	vpQuaternionVector (const double qx, const double qy, const double qz, const double qw)

	vpQuaternionVector (const vpRotationMatrix &R)

	vpQuaternionVector (const vpThetaUVector &tu)

	vpQuaternionVector (const vpColVector &q)

	vpQuaternionVector (const std::vector< double > &q)

vpQuaternionVector	buildFrom (const double qx, const double qy, const double qz, const double qw)

vpQuaternionVector	buildFrom (const vpRotationMatrix &R)

vpQuaternionVector	buildFrom (const vpThetaUVector &tu)

vpQuaternionVector	buildFrom (const vpColVector &q)

vpQuaternionVector	buildFrom (const std::vector< double > &q)

void	set (double x, double y, double z, double w)

const double &	x () const

const double &	y () const

const double &	z () const

const double &	w () const

double &	x ()

double &	y ()

double &	z ()

double &	w ()

vpQuaternionVector	operator+ (const vpQuaternionVector &q) const

vpQuaternionVector	operator- (const vpQuaternionVector &q) const

vpQuaternionVector	operator- () const

vpQuaternionVector	operator* (double l) const

vpQuaternionVector	operator* (const vpQuaternionVector &rq) const

vpQuaternionVector	operator/ (double l) const

vpQuaternionVector &	operator= (const vpColVector &q)

vpQuaternionVector &	operator= (const vpQuaternionVector &)=default

vpQuaternionVector &	operator= (const std::initializer_list< double > &list)

vpQuaternionVector	conjugate () const

vpQuaternionVector	inverse () const

double	magnitude () const

void	normalize ()

Inherited functionalities from vpArray2D
unsigned int	getCols () const

double	getMaxValue () const

double	getMinValue () const

unsigned int	getRows () const

unsigned int	size () const

void	resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)

void	reshape (unsigned int nrows, unsigned int ncols)

void	insert (const vpArray2D< double > &A, unsigned int r, unsigned int c)

bool	operator== (const vpArray2D< double > &A) const

bool	operator!= (const vpArray2D< double > &A) const

vpArray2D< double >	hadamard (const vpArray2D< double > &m) const

Static Public Member Functions
static double	dot (const vpQuaternionVector &q0, const vpQuaternionVector &q1)

static vpQuaternionVector	lerp (const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)

static vpQuaternionVector	nlerp (const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)

static vpQuaternionVector	slerp (const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)

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.)
vpColVector	operator* (const double &x, const vpRotationVector &v)

enum	vpGEMMmethod

bool	operator== (const vpArray2D< double > &A) const

bool	operator== (const vpArray2D< float > &A) const

bool	operator!= (const vpArray2D< double > &A) const

void	vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)

Inherited functionalities from vpRotationVector
double &	operator[] (unsigned int i)

const double &	operator[] (unsigned int i) const

vpRotationVector &	operator<< (double val)

vpRotationVector &	operator, (double val)

double	sumSquare () const

vpRowVector	t () const

std::vector< double >	toStdVector () const

unsigned int	m_index

Inherited I/O from vpArray2D with Static Public Member Functions
vpArray2D< double >	insert (const vpArray2D< double > &A, const vpArray2D< double > &B, unsigned int r, unsigned int c)

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

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

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

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

static vpArray2D< double >	conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, const std::string &mode)

static void	conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, vpArray2D< double > &res, const std::string &mode)

static void	insert (const vpArray2D< double > &A, const vpArray2D< double > &B, vpArray2D< double > &C, unsigned int r, unsigned int c)

Detailed Description

Implementation of a rotation vector as quaternion angle minimal representation.

Defines a quaternion and its basic operations.

The vpQuaternionVector class is derived from vpRotationVector.

A quaternion is defined by four double values: ${\bf q} = (x, y, z, w)$ .

This class allows to compute a quaternion from a rotation matrix using either vpQuaternionVector(const vpRotationMatrix &) constructor or buildFrom() method.

It also defines common operations on a quaternion such as:

multiplication (scalar and quaternion)
addition
subtraction.

You can set values accessing each element:

vpQuaternionVector q;
q[0] = x
q[1] = y;
q[2] = z;
q[3] = w;

You can also initialize the vector using operator<<(double):

tu << x, y, z, w;

Or you can also initialize the vector from a list of doubles if ViSP is build with c++11 enabled:

tu = {x, y, z, w};

To get the values use:

double x = q[0];
double y = q[1];
double z = q[2];
double w = q[3];

or use getter:

double x = q.x();
double y = q.y();
double z = q.z();
double w = q.w();

Examples: calibrate-hand-eye.cpp, testEigenConversion.cpp, testMatrixInitialization.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testQuaternion.cpp, testRealSense2_T265_images_odometry_async.cpp, testRotation.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 104 of file vpQuaternionVector.h.

Constructor & Destructor Documentation

◆ vpQuaternionVector() [1/7]

vpQuaternionVector::vpQuaternionVector ( )

Default constructor that initialize all the 4 angles to zero.

Definition at line 55 of file vpQuaternionVector.cpp.

Referenced by conjugate(), operator*(), operator+(), operator-(), and operator/().

◆ vpQuaternionVector() [2/7]

vpQuaternionVector::vpQuaternionVector ( const vpQuaternionVector & q )

Copy constructor.

Definition at line 58 of file vpQuaternionVector.cpp.

◆ vpQuaternionVector() [3/7]

vpQuaternionVector::vpQuaternionVector	(	const double	qx,
		const double	qy,
		const double	qz,
		const double	qw
	)

Constructor from doubles.

Definition at line 61 of file vpQuaternionVector.cpp.

References set().

◆ vpQuaternionVector() [4/7]

vpQuaternionVector::vpQuaternionVector ( const vpRotationMatrix & R )

explicit

Constructs a quaternion from a rotation matrix.

Parameters

R	: Matrix containing a rotation.

Definition at line 77 of file vpQuaternionVector.cpp.

References buildFrom().

◆ vpQuaternionVector() [5/7]

vpQuaternionVector::vpQuaternionVector ( const vpThetaUVector & tu )

explicit

Constructor that initialize $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector from a $\theta {\bf u}$ vector.

Parameters

tu	: $\theta {\bf u}$ representation of a rotation used here as input to initialize the Euler angles.

Definition at line 85 of file vpQuaternionVector.cpp.

References buildFrom().

◆ vpQuaternionVector() [6/7]

vpQuaternionVector::vpQuaternionVector ( const vpColVector & q )

explicit

Constructor from a 4-dimension vector of doubles.

Definition at line 67 of file vpQuaternionVector.cpp.

References buildFrom().

◆ vpQuaternionVector() [7/7]

vpQuaternionVector::vpQuaternionVector ( const std::vector< double > & q )

explicit

Constructor from a 4-dimension vector of doubles.

Definition at line 70 of file vpQuaternionVector.cpp.

References buildFrom().

Member Function Documentation

◆ buildFrom() [1/5]

vpQuaternionVector vpQuaternionVector::buildFrom	(	const double	qx,
		const double	qy,
		const double	qz,
		const double	qw
	)

Manually change values of a quaternion.

Parameters

qx	: x quaternion parameter.
qy	: y quaternion parameter.
qz	: z quaternion parameter.
qw	: w quaternion parameter.

See also: set()

Definition at line 110 of file vpQuaternionVector.cpp.

References set().

Referenced by buildFrom(), vp::eigen2visp(), vpHomogeneousMatrix::extract(), vpPoseVector::extract(), and vpQuaternionVector().

◆ buildFrom() [2/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const std::vector< double > & q )

Construct a quaternion vector from a 4-dim vector (x,y,z,w).

Definition at line 149 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data, and vpException::dimensionError.

◆ buildFrom() [3/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpColVector & q )

Construct a quaternion vector from a 4-dim vector (x,y,z,w).

Definition at line 133 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, and vpArray2D< Type >::size().

◆ buildFrom() [4/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpRotationMatrix & R )

Constructs a quaternion from a rotation matrix.

Parameters

R	: Rotation matrix.

Definition at line 254 of file vpQuaternionVector.cpp.

References vpThetaUVector::extract(), and set().

◆ buildFrom() [5/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpThetaUVector & tu )

Convert a $\theta {\bf u}$ vector into a quaternion.

Parameters

tu	: $\theta {\bf u}$ representation of a rotation used here as input.

Returns: Quaternion vector.

Definition at line 122 of file vpQuaternionVector.cpp.

References buildFrom().

◆ conjugate()

vpQuaternionVector vpQuaternionVector::conjugate ( ) const

Quaternion conjugate.

Returns: The conjugate quaternion.

Examples: testQuaternion.cpp.

Definition at line 273 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

Referenced by inverse().

◆ conv2() [1/2]

vpArray2D< double > vpArray2D< double >::conv2	(	const vpArray2D< Type > &	M,
		const vpArray2D< Type > &	kernel,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First matrix.
kernel	: Second matrix.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Examples: testMatrixConvolution.cpp.

Definition at line 1029 of file vpArray2D.h.

◆ conv2() [2/2]

void vpArray2D< double >::conv2	(	const vpArray2D< Type > &	M,
		const vpArray2D< Type > &	kernel,
		vpArray2D< Type > &	res,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First array.
kernel	: Second array.
res	: Result.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Definition at line 1043 of file vpArray2D.h.

◆ dot()

double vpQuaternionVector::dot	(	const vpQuaternionVector &	q0,
		const vpQuaternionVector &	q1
	)

static

Compute dot product between two quaternions.

Parameters

q0	: First quaternion.
q1	: Second quaternion.

Returns: The dot product between q0 and q1.

Definition at line 321 of file vpQuaternionVector.cpp.

References w(), x(), y(), and z().

Referenced by lerp(), and slerp().

◆ getCols()

unsigned int vpArray2D< double >::getCols ( ) const

inlineinherited

Return the number of columns of the 2D array.

See also: getRows(), size()

Examples: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testAprilTag.cpp, testArray2D.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRotation.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 327 of file vpArray2D.h.

◆ getMaxValue()

double vpArray2D< double >::getMaxValue

inherited

Return the array max value.

Examples: servoMomentImage.cpp.

Definition at line 329 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue

inherited

Return the array min value.

Examples: servoMomentImage.cpp.

Definition at line 331 of file vpArray2D.h.

◆ getRows()

unsigned int vpArray2D< double >::getRows ( ) const

inlineinherited

Return the number of rows of the 2D array.

See also: getCols(), size()

Definition at line 337 of file vpArray2D.h.

◆ hadamard()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< Type > & 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.

Definition at line 625 of file vpArray2D.h.

◆ insert() [1/2]

vpArray2D< double > vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		unsigned int	r,
		unsigned int	c
	)

inherited

Insert array B in array A at the given position.

Parameters

A	: Main array.
B	: Array to insert.
r	: Index of the row where to add the array.
c	: Index of the column where to add the array.

Returns: Array with B insert in A.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1057 of file vpArray2D.h.

◆ insert() [2/2]

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		unsigned int	r,
		unsigned int	c
	)

inlineinherited

Insert array A at the given position in the current array.

Warning: Throw vpException::dimensionError if the dimensions of the matrices do not allow the operation.

Parameters

A	: The array to insert.
r	: The index of the row to begin to insert data.
c	: The index of the column to begin to insert data.

Definition at line 484 of file vpArray2D.h.

◆ inverse()

vpQuaternionVector vpQuaternionVector::inverse ( ) const

Quaternion inverse.

Returns: The inverse quaternion.

Examples: testQuaternion.cpp.

Definition at line 280 of file vpQuaternionVector.cpp.

References conjugate(), vpMath::nul(), w(), x(), y(), and z().

◆ lerp()

vpQuaternionVector vpQuaternionVector::lerp	(	const vpQuaternionVector &	q0,
		const vpQuaternionVector &	q1,
		double	t
	)

static

Compute Quaternion Linear intERPolation (LERP). See the following references:

Note: Shortest path will be use.

Parameters

q0	: Start quaternion.
q1	: End quaternion.
t	: Interpolation value between [0, 1].

Returns: The interpolated quaternion using the LERP method.

Examples: testQuaternion.cpp.

Definition at line 389 of file vpQuaternionVector.cpp.

References dot(), vpRotationVector::t(), w(), x(), y(), and z().

Referenced by nlerp().

◆ load()

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

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 653 of file vpArray2D.h.

◆ loadYAML()

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

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: servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, and tutorial-hsv-segmentation.cpp.

Definition at line 767 of file vpArray2D.h.

◆ magnitude()

double vpQuaternionVector::magnitude ( ) const

Quaternion magnitude or norm.

Returns: The magnitude or norm of the quaternion.

Definition at line 300 of file vpQuaternionVector.cpp.

References w(), x(), y(), and z().

Referenced by normalize().

◆ nlerp()

vpQuaternionVector vpQuaternionVector::nlerp	(	const vpQuaternionVector &	q0,
		const vpQuaternionVector &	q1,
		double	t
	)

static

Compute Quaternion Normalized Linear intERPolation (NLERP). See the following references:

Note: Shortest path will be use.

Parameters

q0	: Start quaternion.
q1	: End quaternion.
t	: Interpolation value between [0, 1].

Returns: The interpolated quaternion using the NLERP method.

Examples: testQuaternion.cpp.

Definition at line 423 of file vpQuaternionVector.cpp.

References lerp(), normalize(), and vpRotationVector::t().

◆ normalize()

void vpQuaternionVector::normalize ( )

Normalize the quaternion.

Definition at line 305 of file vpQuaternionVector.cpp.

References magnitude(), vpMath::nul(), set(), w(), x(), y(), and z().

Referenced by nlerp(), and slerp().

◆ operator!=()

bool operator!= ( const vpArray2D< Type > & A ) const

inherited

Not equal to comparison operator of a 2D array.

Definition at line 509 of file vpArray2D.h.

◆ operator*() [1/2]

vpQuaternionVector vpQuaternionVector::operator* ( const vpQuaternionVector & rq ) const

Multiply two quaternions.

Definition at line 195 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator*() [2/2]

vpQuaternionVector vpQuaternionVector::operator* ( double l ) const

Multiplication by scalar. Returns a quaternion defined by (lx,ly,lz,lw).

Definition at line 189 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator+()

vpQuaternionVector vpQuaternionVector::operator+ ( const vpQuaternionVector & q ) const

Quaternion addition.

Adds two quaternions. Addition is component-wise.

Parameters

q	: quaternion to add.

Definition at line 169 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator,()

vpRotationVector & vpRotationVector::operator, ( double val )

inherited

Set vector second and third element values.

Parameters

val	: Value of the vector element [rad].

Returns: An updated vector.

The following example shows how to initialize a $\theta_u$ vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
 
int main()
{
  vpThetaUVector tu;
  tu << 0, M_PI_2, M_PI;
  std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654

See also: operator<<()

Definition at line 163 of file vpRotationVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpRotationVector::m_index, and vpArray2D< double >::size().

◆ operator-() [1/2]

vpQuaternionVector vpQuaternionVector::operator- ( void ) const

Negate operator. Returns a quaternion defined by (-x,-y,-z-,-w).

Definition at line 186 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator-() [2/2]

vpQuaternionVector vpQuaternionVector::operator- ( const vpQuaternionVector & q ) const

Quaternion subtraction.

subtracts a quaternion from another. subtraction is component-wise.

Parameters

q	: quaternion to subtract.

Definition at line 180 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator/()

vpQuaternionVector vpQuaternionVector::operator/ ( double l ) const

Division by scalar. Returns a quaternion defined by (x/l,y/l,z/l,w/l).

Definition at line 204 of file vpQuaternionVector.cpp.

References vpException::fatalError, vpMath::nul(), vpQuaternionVector(), w(), x(), y(), and z().

◆ operator<<()

vpRotationVector & vpRotationVector::operator<< ( double val )

inherited

Set vector first element value.

Parameters

val	: Value of the vector first element [rad].

Returns: An updated vector.

The following example shows how to initialize a $\theta_u$ vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
 
int main()
{
  vpThetaUVector tu;
  tu << 0, M_PI_2, M_PI;
  std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654

See also: operator,()

Definition at line 133 of file vpRotationVector.cpp.

References vpArray2D< double >::data, and vpRotationVector::m_index.

◆ operator=() [1/3]

vpQuaternionVector & vpQuaternionVector::operator= ( const std::initializer_list< double > & list )

Set vector from a list of 4 double angle values.

#include <visp3/core/vpQuaternionVector.cpp>
 
int main()
{
  vpQuaternionVector q = {0, 0, 0, 1};
  std::cout << "q: " << q.t() << std::endl;
}

It produces the following printings:

q: 0 0 0 1

See also: operator<<()

Definition at line 362 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, and vpArray2D< double >::size().

◆ operator=() [2/3]

vpQuaternionVector & vpQuaternionVector::operator= ( const vpColVector & q )

Copy operator that initializes a quaternion vector from a 4-dimension column vector q.

Parameters

q	: 4-dimension vector containing the values of the quaternion vector.

#include <visp3/core/vpQuaternionVector.h>
 
int main()
{
  vpColVector v(4);
  v[0] = 0.1;
  v[1] = 0.2;
  v[2] = 0.3;
  v[3] = 0.4;
  vpQuaternionVector q;
  q = v;
  // q is now equal to v : 0.1, 0.2, 0.3, 0.4
}

Definition at line 236 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, and vpArray2D< Type >::size().

◆ operator=() [3/3]

vpQuaternionVector& vpQuaternionVector::operator= ( const vpQuaternionVector & )

default

◆ operator==()

bool vpArray2D< double >::operator== ( const vpArray2D< Type > & A ) const

inherited

Equal to comparison operator of a 2D array.

Definition at line 505 of file vpArray2D.h.

◆ operator[]() [1/2]

double& vpRotationVector::operator[] ( unsigned int i )

inlineinherited

Operator that allows to set the value of an element of the rotation vector: r[i] = value

Definition at line 117 of file vpRotationVector.h.

◆ operator[]() [2/2]

const double& vpRotationVector::operator[] ( unsigned int i ) const

inlineinherited

Operator that allows to get the value of an element of the rotation vector: value = r[i]

Definition at line 122 of file vpRotationVector.h.

◆ reshape()

void vpArray2D< double >::reshape	(	unsigned int	nrows,
		unsigned int	ncols
	)

inlineinherited

Examples: testMatrixInitialization.cpp.

Definition at line 443 of file vpArray2D.h.

◆ resize()

void vpArray2D< double >::resize	(	unsigned int	nrows,
		unsigned int	ncols,
		bool	flagNullify = `true`,
		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.

Examples: testArray2D.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 352 of file vpArray2D.h.

◆ save()

static bool vpArray2D< double >::save	(	const std::string &	filename,
		const vpArray2D< Type > &	A,
		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 855 of file vpArray2D.h.

◆ saveYAML()

static bool vpArray2D< double >::saveYAML	(	const std::string &	filename,
		const vpArray2D< Type > &	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<double> M(3,4);
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
data:
  - [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
data:
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]

See also: loadYAML()

Definition at line 950 of file vpArray2D.h.

◆ set()

void vpQuaternionVector::set	(	double	qx,
		double	qy,
		double	qz,
		double	qw
	)

Manually change values of a quaternion.

Parameters

qx	: x quaternion parameter.
qy	: y quaternion parameter.
qz	: z quaternion parameter.
qw	: w quaternion parameter.

Examples: testQuaternion.cpp, and testRotation.cpp.

Definition at line 94 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by buildFrom(), normalize(), and vpQuaternionVector().

◆ size()

unsigned int vpArray2D< double >::size ( ) const

inlineinherited

Return the number of elements of the 2D array.

Examples: testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRotation.cpp, testRowVector.cpp, testTranslationVector.cpp, testTukeyEstimator.cpp, testUniversalRobotsGetData.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 339 of file vpArray2D.h.

◆ slerp()

vpQuaternionVector vpQuaternionVector::slerp	(	const vpQuaternionVector &	q0,
		const vpQuaternionVector &	q1,
		double	t
	)

static

Compute Quaternion Spherical Linear intERPolation (SLERP). See the following references:

Note: Shortest path will be use.

Parameters

q0	: Start quaternion.
q1	: End quaternion.
t	: Interpolation value between [0, 1].

Returns: The interpolated quaternion using the SLERP method.

Examples: testQuaternion.cpp.

Definition at line 447 of file vpQuaternionVector.cpp.

References dot(), normalize(), vpRotationVector::t(), w(), x(), y(), and z().

◆ sumSquare()

double vpRotationVector::sumSquare ( ) const

inherited

Return the sum square of all the elements $r_{i}$ of the rotation vector r(m).

Returns: The value
$\sum{i=0}^{m} r_i^{2}$
.

Examples: servoAfma6AprilTagPBVS.cpp, servoAfma6MegaposePBVS.cpp, servoFrankaPBVS.cpp, and servoUniversalRobotsPBVS.cpp.

Definition at line 182 of file vpRotationVector.cpp.

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

◆ t()

vpRowVector vpRotationVector::t ( ) const

inherited

Return the transpose of the rotation vector.

Examples: calibrate-hand-eye.cpp, testEigenConversion.cpp, testMatrixInitialization.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testViper650.cpp, testViper850.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 53 of file vpRotationVector.cpp.

References vpArray2D< double >::data, and vpArray2D< double >::dsize.

Referenced by lerp(), nlerp(), and slerp().

◆ toStdVector()

std::vector< double > vpRotationVector::toStdVector ( ) const

inherited

Converts the vpRotationVector to a std::vector.

Returns: The corresponding std::vector<double>.

Definition at line 68 of file vpRotationVector.cpp.

References vpArray2D< double >::data, and vpArray2D< double >::size().

◆ w() [1/2]

double & vpQuaternionVector::w ( )

Returns a reference to the w-component of the quaternion.

Definition at line 342 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ w() [2/2]

const double & vpQuaternionVector::w ( ) const

Returns the w-component of the quaternion.

Examples: testQuaternion.cpp.

Definition at line 333 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator+(), operator-(), operator/(), slerp(), and vp::visp2eigen().

◆ x() [1/2]

double & vpQuaternionVector::x ( )

Returns a reference to the x-component of the quaternion.

Definition at line 336 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ x() [2/2]

const double & vpQuaternionVector::x ( ) const

Returns the x-component of the quaternion.

Examples: testQuaternion.cpp.

Definition at line 327 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator+(), operator-(), operator/(), slerp(), and vp::visp2eigen().

◆ y() [1/2]

double & vpQuaternionVector::y ( )

Returns a reference to the y-component of the quaternion.

Definition at line 338 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ y() [2/2]

const double & vpQuaternionVector::y ( ) const

Returns the y-component of the quaternion.

Examples: testQuaternion.cpp.

Definition at line 329 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator+(), operator-(), operator/(), slerp(), and vp::visp2eigen().

◆ z() [1/2]

double & vpQuaternionVector::z ( )

Returns a reference to the z-component of the quaternion.

Definition at line 340 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ z() [2/2]

const double & vpQuaternionVector::z ( ) const

Returns the z-component of the quaternion.

Examples: testQuaternion.cpp.

Definition at line 331 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator+(), operator-(), operator/(), slerp(), and vp::visp2eigen().

Friends And Related Function Documentation

◆ insert()

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		vpArray2D< Type > &	C,
		unsigned int	r,
		unsigned int	c
	)

Parameters

A	: Main array.
B	: Array to insert.
C	: Result array.
r	: Index of the row where to insert array B.
c	: Index of the column where to insert array B.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1072 of file vpArray2D.h.

◆ operator!=()

bool operator!= ( const vpArray2D< Type > & A ) const

◆ operator*()

vpColVector operator*	(	const double &	x,
		const vpRotationVector &	v
	)

Definition at line 103 of file vpRotationVector.cpp.

◆ operator==() [1/2]

bool operator== ( const vpArray2D< double > & A ) const

◆ operator==() [2/2]

bool operator== ( const vpArray2D< float > & A ) const

◆ vpGEMM()

void vpGEMM	(	const vpArray2D< double > &	A,
		const vpArray2D< double > &	B,
		const double &	alpha,
		const vpArray2D< double > &	C,
		const double &	beta,
		vpArray2D< double > &	D,
		const unsigned int &	ops = `0`
	)

For example, to compute D = alpha*A^T*B^T+beta*C we need to call :

vpGEMM(A, B, alpha, C, beta, D, VP_GEMM_A_T + VP_GEMM_B_T);

vpArray2D< double >::vpGEMM

void vpGEMM(const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)

Definition: vpGEMM.h:388

If C is not used, vpGEMM must be called using an empty array null. Thus to compute D = alpha*A^T*B, we have to call:

vpGEMM(A, B, alpha, null, 0, D, VP_GEMM_B_T);

Exceptions

vpException::incorrectMatrixSizeError if the sizes of the matrices do not allow the operations.

Parameters

A	: An array that could be a vpMatrix.
B	: An array that could be a vpMatrix.
alpha	: A scalar.
C	: An array that could be a vpMatrix.
beta	: A scalar.
D	: The resulting array that could be a vpMatrix.
ops	: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 388 of file vpGEMM.h.

◆ vpGEMMmethod

enum vpGEMMmethod

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 52 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 131 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data

inherited

Address of the first element of the data array.

Examples: testArray2D.cpp, testDisplacement.cpp, testMatrix.cpp, testQuaternion.cpp, testRotation.cpp, testTranslationVector.cpp, testUniversalRobotsGetData.cpp, tutorial-bridge-opencv-matrix.cpp, and tutorial-matlab.cpp.

Definition at line 139 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

Current array size (rowNum * colNum)

Definition at line 135 of file vpArray2D.h.

◆ m_index

unsigned int vpRotationVector::m_index

protectedinherited

Definition at line 151 of file vpRotationVector.h.

Referenced by vpRotationVector::operator,(), and vpRotationVector::operator<<().

◆ rowNum

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 129 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 133 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Inherited functionalities from vpRotationVector

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpQuaternionVector() [1/7]

◆ vpQuaternionVector() [2/7]

◆ vpQuaternionVector() [3/7]

◆ vpQuaternionVector() [4/7]

◆ vpQuaternionVector() [5/7]

◆ vpQuaternionVector() [6/7]

◆ vpQuaternionVector() [7/7]

Member Function Documentation

◆ buildFrom() [1/5]

◆ buildFrom() [2/5]

◆ buildFrom() [3/5]

◆ buildFrom() [4/5]

◆ buildFrom() [5/5]

◆ conjugate()

◆ conv2() [1/2]

◆ conv2() [2/2]

◆ dot()

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ hadamard()

◆ insert() [1/2]

◆ insert() [2/2]

◆ inverse()

◆ lerp()

◆ load()

◆ loadYAML()

◆ magnitude()

◆ nlerp()

◆ normalize()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+()

◆ operator,()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator/()

◆ operator<<()

◆ operator=() [1/3]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reshape()

◆ resize()

◆ save()

◆ saveYAML()

◆ set()

◆ size()

◆ slerp()

◆ sumSquare()

◆ t()

◆ toStdVector()

◆ w() [1/2]

◆ w() [2/2]

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]

Friends And Related Function Documentation

◆ insert()

◆ operator!=()

◆ operator*()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ vpGEMM()