Visual Servoing Platform
version 3.6.1 under development (2024-04-23)
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#include <visp3/core/vpSubColVector.h>
Public Member Functions | |
vpSubColVector () | |
vpSubColVector (vpColVector &v, const unsigned int &offset, const unsigned int &nrows) | |
virtual | ~vpSubColVector () vp_override |
void | checkParentStatus () const |
void | init (vpColVector &v, const unsigned int &offset, const unsigned int &nrows) |
vpSubColVector & | operator= (const vpSubColVector &B) |
vpSubColVector & | operator= (const vpPoseVector &p) |
vpSubColVector & | operator= (const vpRotationVector &rv) |
vpSubColVector & | operator= (const vpTranslationVector &tv) |
vpSubColVector & | operator= (const vpColVector &B) |
vpSubColVector & | operator= (const vpMatrix &B) |
vpSubColVector & | operator= (const double &x) |
void | clear () |
std::ostream & | cppPrint (std::ostream &os, const std::string &matrixName="A", bool octet=false) const |
std::ostream & | csvPrint (std::ostream &os) const |
vpColVector & | deg2rad () |
vpColVector | extract (unsigned int r, unsigned int colsize) const |
double | frobeniusNorm () const |
vpColVector | hadamard (const vpColVector &v) const |
double | infinityNorm () const |
void | init (const vpColVector &v, unsigned int r, unsigned int nrows) |
void | insert (unsigned int i, const vpColVector &v) |
std::ostream & | maplePrint (std::ostream &os) const |
std::ostream & | matlabPrint (std::ostream &os) const |
vpColVector & | normalize () |
vpColVector & | normalize (vpColVector &x) const |
double & | operator[] (unsigned int n) |
const double & | operator[] (unsigned int n) const |
bool | operator== (const vpColVector &v) const |
bool | operator== (double v) const |
bool | operator!= (const vpColVector &v) const |
bool | operator!= (double v) const |
double | operator* (const vpColVector &v) const |
vpMatrix | operator* (const vpRowVector &v) const |
vpColVector | operator* (double x) const |
vpColVector & | operator*= (double x) |
vpColVector | operator/ (double x) const |
vpColVector & | operator/= (double x) |
vpColVector | operator+ (const vpColVector &v) const |
vpTranslationVector | operator+ (const vpTranslationVector &t) const |
vpColVector & | operator+= (vpColVector v) |
vpColVector | operator- (const vpColVector &v) const |
vpColVector | operator- () const |
vpColVector & | operator-= (vpColVector v) |
vpColVector & | operator<< (const vpColVector &v) |
vpColVector & | operator<< (double *x) |
vpColVector & | operator<< (double val) |
vpColVector & | operator, (double val) |
int | print (std::ostream &s, unsigned int length, char const *intro=0) const |
vpColVector & | rad2deg () |
void | reshape (vpMatrix &M, const unsigned int &nrows, const unsigned int &ncols) |
vpMatrix | reshape (unsigned int nrows, unsigned int ncols) |
void | resize (unsigned int i, bool flagNullify=true) |
void | resize (unsigned int nrows, unsigned int ncols, bool flagNullify) |
void | stack (double d) |
void | stack (const vpColVector &v) |
double | sum () const |
double | sumSquare () const |
vpRowVector | t () const |
std::vector< double > | toStdVector () const |
vpRowVector | transpose () const |
void | transpose (vpRowVector &v) const |
Inherited functionalities from vpArray2D | |
vpArray2D< double > | hadamard (const vpArray2D< double > &m) const |
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 |
void | resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true) |
unsigned int | getCols () const |
double | getMaxValue () const |
double | getMinValue () const |
unsigned int | getRows () const |
unsigned int | size () const |
Static Public Member Functions | |
static vpColVector | stack (const vpColVector &A, const vpColVector &B) |
static void | stack (const vpColVector &A, const vpColVector &B, vpColVector &C) |
static vpColVector | cross (const vpColVector &a, const vpColVector &b) |
static vpColVector | crossProd (const vpColVector &a, const vpColVector &b) |
static double | dotProd (const vpColVector &a, const vpColVector &b) |
static vpColVector | invSort (const vpColVector &v) |
static double | median (const vpColVector &v) |
static double | mean (const vpColVector &v) |
static vpMatrix | skew (const vpColVector &v) |
static vpColVector | sort (const vpColVector &v) |
static double | stdev (const vpColVector &v, bool useBesselCorrection=false) |
Public Attributes | |
double * | data |
Protected Attributes | |
unsigned int | m_pRowNum |
vpColVector * | m_parent |
unsigned int | rowNum |
unsigned int | colNum |
double ** | rowPtrs |
unsigned int | dsize |
Related Functions | |
(Note that these are not member functions.) | |
bool | operator== (const vpArray2D< double > &A) const |
bool | operator== (const vpArray2D< float > &A) const |
vpColVector | operator* (const double &x, const vpColVector &v) |
enum | vpGEMMmethod |
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) |
Deprecated functions | |
vp_deprecated void | init () |
vp_deprecated void | insert (const vpColVector &v, unsigned int i) |
vp_deprecated void | insert (const vpColVector &v, unsigned int r, unsigned int c=0) |
vp_deprecated vpColVector | rows (unsigned int first_row, unsigned int last_row) const |
vp_deprecated void | stackMatrices (const vpColVector &r) |
vp_deprecated double | euclideanNorm () const |
static vp_deprecated vpColVector | stackMatrices (const vpColVector &A, const vpColVector &B) |
static vp_deprecated void | stackMatrices (const vpColVector &A, const vpColVector &B, vpColVector &C) |
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 void | insert (const vpArray2D< double > &A, const vpArray2D< double > &B, vpArray2D< double > &C, 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) |
This class provides a mask on a vpColVector. It has internally a pointer to the parent vpColVector. All properties of vpColVector are available with a vpSubColVector.
Definition at line 55 of file vpSubColVector.h.
vpSubColVector::vpSubColVector | ( | ) |
Default constructor that creates an empty vector.
Definition at line 45 of file vpSubColVector.cpp.
vpSubColVector::vpSubColVector | ( | vpColVector & | v, |
const unsigned int & | offset, | ||
const unsigned int & | nrows | ||
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Construct a sub-column vector from a parent column vector.
v | : parent column vector. |
offset | : offset where the sub-column vector starts in the parent column vector. |
nrows | : size of the sub-column vector. |
Definition at line 53 of file vpSubColVector.cpp.
References vpColVector::init().
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virtual |
Destructor that set the pointer to the parent column vector to nullptr.
Definition at line 102 of file vpSubColVector.cpp.
References vpArray2D< double >::data.
void vpSubColVector::checkParentStatus | ( | ) | const |
This method can be used to detect if the parent column vector always exits or its size have not changed. If this not the case an exception is thrown.
Definition at line 109 of file vpSubColVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, vpException::fatalError, vpArray2D< Type >::getRows(), m_parent, and m_pRowNum.
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inlineinherited |
Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
Definition at line 262 of file vpColVector.h.
References vpArray2D< double >::colNum, vpArray2D< double >::data, vpArray2D< double >::dsize, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.
Referenced by vpMbTracker::createCylinderBBox().
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staticinherited |
Perform a 2D convolution similar to Matlab conv2 function: .
M | : First matrix. |
kernel | : Second matrix. |
mode | : Convolution mode: "full" (default), "same", "valid". |
Definition at line 1029 of file vpArray2D.h.
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staticinherited |
Perform a 2D convolution similar to Matlab conv2 function: .
M | : First array. |
kernel | : Second array. |
res | : Result. |
mode | : Convolution mode: "full" (default), "same", "valid". |
Definition at line 1043 of file vpArray2D.h.
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inherited |
Print to be used as part of a C++ code later.
os | : the stream to be printed in. |
matrixName | : name of the column vector, "A" by default. |
octet | : if false, print using double, if true, print byte per byte each bytes of the double array. |
The following code shows how to use this function:
It produces the following output that could be copy/paste in a C++ code:
Definition at line 939 of file vpColVector.cpp.
References vpArray2D< double >::getRows().
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inlinestaticinherited |
Compute and return the cross product of two 3-dimension vectors: .
a | : 3-dimension column vector. |
b | : 3-dimension column vector. |
vpException::dimensionError | If the vectors dimension is not equal to 3. |
Definition at line 1172 of file vpColVector.h.
Referenced by vpMbtDistanceLine::buildFrom(), and vpPlane::init().
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staticinherited |
Compute and return the cross product of two vectors .
[in] | a | : 3-dimension column vector. |
[in] | b | : 3-dimension column vector. |
vpException::dimensionError | If the vectors dimension is not equal to 3. |
Definition at line 740 of file vpColVector.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), and vpColVector::skew().
Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpMath::lookAt(), vpThetaUVector::operator*(), vpPose::poseLagrangePlan(), and vpImageSimulator::setCameraPosition().
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inherited |
Print/save a column vector in csv format.
The following code
produces log.csv
file that contains:
Definition at line 960 of file vpColVector.cpp.
References vpArray2D< double >::getRows().
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inlineinherited |
Converts a column vector containing angles in degrees into radians and returns a reference to the vector.
Definition at line 342 of file vpColVector.h.
Referenced by vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpRobotViper650::init(), vpRobotViper850::init(), vpRobotViper650::readPosFile(), vpRobotViper850::readPosFile(), vpSimulatorViper850::readPosFile(), vpRobotBiclops::readPositionFile(), vpRobotPtu46::readPositionFile(), vpRobotViper650::setPosition(), and vpRobotViper850::setPosition().
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staticinherited |
Compute end return the dot product of two column vectors:
where n is the dimension of both vectors.
vpException::dimensionError | If the vector dimension differ. |
Definition at line 527 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpException::dimensionError, vpException::fatalError, vpArray2D< Type >::getRows(), and vpArray2D< Type >::size().
Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtPolygon::isVisible(), vpThetaUVector::operator*(), and vpImageSimulator::setCameraPosition().
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inherited |
Compute and return the Euclidean norm also called Frobenius norm .
Definition at line 1013 of file vpColVector.cpp.
References vpColVector::frobeniusNorm().
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inlineinherited |
Extract a sub-column vector from a column vector.
r | : Index of the row corresponding to the first element of the vector to extract. |
colsize | : Size of the vector to extract. |
vpException::fatalError | If the vector to extract is not contained in the original one. |
Definition at line 367 of file vpColVector.h.
References vpException::fatalError, and vpArray2D< double >::rowNum.
Referenced by vpLinProg::colReduction(), vpRobotUniversalRobots::setPosition(), vpLinProg::simplex(), vpLinProg::solveLP(), and vpQuadProg::solveQPi().
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inherited |
Compute and return the Frobenius norm of all the elements of the column vector that is of dimension .
Definition at line 901 of file vpColVector.cpp.
References vpColVector::sumSquare().
Referenced by vpServo::computeProjectionOperators(), vpMbTracker::createCylinderBBox(), vpColVector::euclideanNorm(), and vpSimulatorAfma6::setPosition().
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inlineinherited |
Return the number of columns of the 2D array.
Definition at line 327 of file vpArray2D.h.
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inherited |
Return the array max value.
Definition at line 329 of file vpArray2D.h.
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inherited |
Return the array min value.
Definition at line 331 of file vpArray2D.h.
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inlineinherited |
Return the number of rows of the 2D array.
Definition at line 337 of file vpArray2D.h.
Compute the Hadamard product (element wise matrix multiplication).
m | : Second matrix; |
Definition at line 625 of file vpArray2D.h.
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inherited |
Compute the Hadamard product (element wise vector multiplication).
v | : Second vector; |
Definition at line 908 of file vpColVector.cpp.
References vpArray2D< double >::colNum, vpArray2D< double >::data, vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< double >::dsize, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpColVector::resize(), and vpArray2D< double >::rowNum.
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inherited |
Compute and return the infinity norm with where m is the vector size and an element of the vector.
Definition at line 927 of file vpColVector.cpp.
References vpArray2D< double >::rowNum.
Referenced by vpLinProg::colReduction(), vpAdaptiveGain::operator()(), and vpLinProg::rowReduction().
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inlineinherited |
Definition at line 1355 of file vpColVector.h.
Referenced by vpColVector::vpColVector(), and vpSubColVector().
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inherited |
Initialize the column vector from a part of an input column vector v.
v | : Input column vector used for initialization. |
r | : row index in v that corresponds to the first element of the column vector to construct. |
nrows | : Number of rows of the constructed column vector. |
The sub-vector starting from v[r] element and ending on v[r+nrows-1] element is used to initialize the constructed column vector.
The following code shows how to use this function:
It produces the following output:
Definition at line 164 of file vpColVector.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), vpColVector::resize(), and vpArray2D< double >::rowPtrs.
void vpSubColVector::init | ( | vpColVector & | v, |
const unsigned int & | offset, | ||
const unsigned int & | nrows | ||
) |
Initialize a sub-column vector from a parent column vector.
v | : parent column vector. |
offset | : offset where the sub-column vector starts in the parent column vector. |
nrows | : size of the sub-column vector. |
Definition at line 65 of file vpSubColVector.cpp.
References vpArray2D< double >::colNum, vpArray2D< double >::data, vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< double >::dsize, vpException::fatalError, vpArray2D< Type >::getRows(), m_parent, m_pRowNum, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.
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inherited |
Insert array B in array A at the given position.
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. |
Definition at line 1057 of file vpArray2D.h.
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inlineinherited |
Insert array A at the given position in the current array.
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.
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inherited |
Insert a column vector.
i | : Index of the first element to introduce. This index starts from 0. |
v | : Column vector to insert. |
The following example shows how to use this function:
It produces the following output:
Definition at line 1002 of file vpColVector.cpp.
References vpColVector::insert().
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inherited |
Insert column vector v at the given position r in the current column vector.
v | : The column vector to insert. |
r | : The index of the row to begin to insert data. |
c | : Not used. |
Definition at line 1007 of file vpColVector.cpp.
References vpColVector::insert().
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inherited |
Insert a column vector.
i | : Index of the first element to introduce. This index starts from 0. |
v | : Column vector to insert. |
The following example shows how to use this function:
It produces the following output:
Definition at line 776 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpArray2D< double >::data, vpException::dimensionError, vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().
Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSWeights(), vpMbGenericTracker::computeVVSWeights(), and vpColVector::insert().
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staticinherited |
Return a column vector with elements of v that are reverse sorted with values going from greatest to lowest.
Example:
Output:
Definition at line 575 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpException::fatalError, and vpArray2D< Type >::getRows().
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inlinestaticinherited |
Load a matrix from a file.
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. |
Definition at line 653 of file vpArray2D.h.
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inlinestaticinherited |
Load an array from a YAML-formatted file.
filename | : absolute file name. |
A | : array to be loaded from the file. |
header | : header of the file is loaded in this parameter. |
Definition at line 767 of file vpArray2D.h.
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inherited |
Print using Maple syntax, to copy/paste in Maple later.
The following code
produces this output:
that could be copy/paste in Maple.
Definition at line 971 of file vpColVector.cpp.
References vpArray2D< double >::getRows().
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inherited |
Print using Matlab syntax, to copy/paste in Matlab later.
The following code
produces this output:
that could be copy/paste in Matlab:
Definition at line 984 of file vpColVector.cpp.
References vpArray2D< double >::getRows().
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staticinherited |
Compute the mean value of all the elements of the vector.
Definition at line 672 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::size(), and vpColVector::sum().
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staticinherited |
Compute the median value of all the elements of the vector.
Definition at line 684 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpException::dimensionError, vpMath::getMedian(), vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().
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inherited |
Normalize the column vector.
Considering the n-dim column vector normalize each vector element :
Definition at line 563 of file vpColVector.cpp.
References vpColVector::sumSquare().
Referenced by vpCameraParameters::computeFov(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbTracker::createCylinderBBox(), vpMbtDistanceKltPoints::init(), vpMbtPolygon::isVisible(), vpMath::lookAt(), and vpMbKltTracker::setPose().
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inherited |
Normalize a column vector.
Considering the n-dim column vector normalize each vector element :
[in,out] | x | : As input, the vector to normalize, as output the normalized vector. |
Definition at line 556 of file vpColVector.cpp.
References vpColVector::sumSquare().
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inherited |
Not equal to comparison operator of a 2D array.
Definition at line 509 of file vpArray2D.h.
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inherited |
Compare two column vectors.
v | : Vector to compare with. |
Definition at line 505 of file vpColVector.cpp.
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inherited |
Compare a column vector to a floating point value.
v | : Floating point value to compare with. |
v
. false when all the vector values are equal to v
. Definition at line 507 of file vpColVector.cpp.
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inherited |
Operator that performs the dot product between two column vectors.
vpException::dimensionError | If the vector dimension differ. |
Definition at line 115 of file vpColVector.cpp.
References vpException::dimensionError, vpArray2D< double >::rowNum, vpArray2D< Type >::size(), and vpArray2D< double >::size().
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inherited |
Multiply a column vector by a row vector.
v | : Row vector. |
Definition at line 131 of file vpColVector.cpp.
References vpArray2D< Type >::getCols(), and vpArray2D< double >::rowNum.
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inherited |
Operator that allows to multiply each element of a column vector by a scalar.
x | : The scalar. |
Definition at line 276 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::rowNum.
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inherited |
Operator that allows to multiply each element of a column vector by a scalar.
x | : The scalar. |
Definition at line 290 of file vpColVector.cpp.
References vpArray2D< double >::rowNum.
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inherited |
Operator that allows to add two column vectors.
Definition at line 60 of file vpColVector.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< double >::getRows(), and vpArray2D< double >::rowNum.
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inherited |
Operator that allows to add a column vector to a translation vector.
t | : 3-dimension translation vector to add. |
Definition at line 74 of file vpColVector.cpp.
References vpException::dimensionError, vpArray2D< double >::getRows(), and vpColVector::t().
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inherited |
Operator that allows to add two column vectors.
Definition at line 89 of file vpColVector.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< double >::getRows(), and vpArray2D< double >::rowNum.
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inherited |
This operator could be used to set column vector elements:
It produces the following printings:
Definition at line 420 of file vpColVector.cpp.
References vpArray2D< double >::data, vpColVector::resize(), and vpArray2D< double >::rowNum.
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inherited |
Operator that allows to negate all the column vector elements.
Definition at line 260 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpArray2D< double >::data, vpColVector::resize(), and vpArray2D< double >::rowNum.
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inherited |
Operator subtraction of two vectors this = this - v
Definition at line 143 of file vpColVector.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< double >::getRows(), and vpArray2D< double >::rowNum.
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inherited |
Operator that allows to subtract two column vectors.
Definition at line 102 of file vpColVector.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< double >::getRows(), and vpArray2D< double >::rowNum.
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inherited |
Operator that allows to divide each element of a column vector by a scalar.
x | : The scalar. |
Definition at line 306 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::rowNum.
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inherited |
Operator that allows to divide each element of a column vector by a scalar.
x | : The scalar. |
Definition at line 298 of file vpColVector.cpp.
References vpArray2D< double >::rowNum.
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inherited |
Copy operator. Allows operation such as A << v
In column vector A we get:
Definition at line 397 of file vpColVector.cpp.
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inherited |
Assignment operator. Allow operation such as A = *v
The following example shows how to use this operator.
It produces the following output:
Definition at line 403 of file vpColVector.cpp.
References vpArray2D< double >::colNum, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.
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inherited |
This operator could be used to set column vector elements:
It produces the following printings:
Definition at line 413 of file vpColVector.cpp.
References vpArray2D< double >::data, and vpColVector::resize().
vpSubColVector & vpSubColVector::operator= | ( | const double & | x | ) |
Set all the elements of the sub-column vector to x.
x | : a scalar value. |
Definition at line 186 of file vpSubColVector.cpp.
References vpArray2D< double >::data, and vpArray2D< double >::rowNum.
vpSubColVector & vpSubColVector::operator= | ( | const vpColVector & | B | ) |
Allow to initialize a sub-column vector from a column vector using operation A = B. Notice that the sub-column vector is not resized to the dimension of B.
B | : a column vector. |
Definition at line 146 of file vpSubColVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< Type >::getRows(), and vpArray2D< double >::rowNum.
vpSubColVector & vpSubColVector::operator= | ( | const vpMatrix & | B | ) |
Allow to initialize a sub-column vector from a m-by-1 matrix using operation A = B. Notice that the sub-column vector is not resized to the dimension of B.
B | : a matrix of size m-by-1. |
Definition at line 168 of file vpSubColVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and vpArray2D< double >::rowNum.
vpSubColVector & vpSubColVector::operator= | ( | const vpPoseVector & | p | ) |
Operator that allows to convert a pose vector into a column vector.
Definition at line 235 of file vpSubColVector.cpp.
References vpArray2D< double >::data, vpArray2D< Type >::data, vpArray2D< Type >::getRows(), vpColVector::resize(), and vpArray2D< double >::rowNum.
vpSubColVector & vpSubColVector::operator= | ( | const vpRotationVector & | rv | ) |
Operator that allows to convert a rotation vector into a column vector.
Definition at line 216 of file vpSubColVector.cpp.
References vpArray2D< double >::data, vpArray2D< Type >::data, vpArray2D< Type >::getRows(), vpColVector::resize(), and vpArray2D< double >::rowNum.
vpSubColVector & vpSubColVector::operator= | ( | const vpSubColVector & | B | ) |
Allow to initialize a sub-column vector from an other one using operation A = B. Notice that the sub-column vector is not resized to the dimension of B.
B | : a sub-column vector. |
Definition at line 125 of file vpSubColVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< Type >::getRows(), m_pRowNum, and vpArray2D< double >::rowNum.
vpSubColVector & vpSubColVector::operator= | ( | const vpTranslationVector & | tv | ) |
Operator that allows to convert a translation vector into a column vector.
Definition at line 197 of file vpSubColVector.cpp.
References vpArray2D< double >::data, vpArray2D< Type >::data, vpArray2D< Type >::getRows(), vpColVector::resize(), and vpArray2D< double >::rowNum.
Equal to comparison operator of a 2D array.
Definition at line 505 of file vpArray2D.h.
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inherited |
Compare two column vectors.
v | : Vector to compare with. |
Definition at line 479 of file vpColVector.cpp.
References vpArray2D< Type >::colNum, vpArray2D< double >::colNum, vpArray2D< Type >::data, vpArray2D< double >::data, vpMath::equal(), vpArray2D< Type >::rowNum, and vpArray2D< double >::rowNum.
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inherited |
Compare a column vector to a floating point value.
v | : Floating point value to compare with. |
v
, false otherwise. Definition at line 494 of file vpColVector.cpp.
References vpArray2D< double >::data, vpMath::equal(), and vpArray2D< double >::rowNum.
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inlineinherited |
Operator that allows to set a value of an element : v[i] = x
Definition at line 581 of file vpColVector.h.
References vpArray2D< double >::data.
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inlineinherited |
Operator that allows to get the value of an element : x = v[i]
Definition at line 586 of file vpColVector.h.
References vpArray2D< double >::data.
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inherited |
Pretty print a column vector. The data are tabulated. The common widths before and after the decimal point are set with respect to the parameter maxlen.
s | Stream used for the printing. |
length | The suggested width of each vector element. The actual width grows in order to accommodate the whole integral part, and shrinks if the whole extent is not needed for all the numbers. |
intro | The introduction which is printed before the vector. Can be set to zero (or omitted), in which case the introduction is not printed. |
Definition at line 787 of file vpColVector.cpp.
References vpArray2D< double >::getRows(), and vpMath::maximum().
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inlineinherited |
Converts a column vector containing angles in radians into degrees and returns a reference to the vector.
Definition at line 970 of file vpColVector.h.
Referenced by vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
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inherited |
Reshape the column vector in a matrix.
nrows | : number of rows of the matrix |
ncols | : number of columns of the matrix |
Definition at line 752 of file vpColVector.cpp.
References vpColVector::reshape().
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inherited |
Reshape the column vector in a matrix.
M | : the reshaped matrix. |
nrows | : number of rows of the matrix. |
ncols | : number of columns of the matrix. |
vpException::dimensionError | If the matrix and the column vector have not the same size. |
The following example shows how to use this method.
If you run the previous example, you get:
Definition at line 759 of file vpColVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< double >::dsize, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpArray2D< double >::rowNum.
Referenced by vpColVector::reshape().
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inlineinherited |
Modify the size of the column vector.
i | : Size of the vector. This value corresponds to the vector number of rows. |
flagNullify | : If true, set the data to zero. |
vpException::fatalError | When ncols is not equal to 1. |
Definition at line 1056 of file vpColVector.h.
References vpArray2D< Type >::resize().
Referenced by vpRealSense2::acquire(), vpMatrix::add2Matrices(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpCircle::changeFrame(), vpRobotAfma6::checkJointLimits(), vpLinProg::colReduction(), vpMbtFaceDepthNormal::computeDesiredFeaturesPCL(), vpMbtFaceDepthNormal::computeDesiredFeaturesSVD(), vpServo::computeError(), vpMbtFaceDepthNormal::computeInteractionMatrix(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), vpMbTracker::computeJTR(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpPose::computeResidual(), vpMbEdgeKltTracker::computeVVS(), vpMbDepthDenseTracker::computeVVSInit(), vpMbDepthNormalTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbGenericTracker::computeVVSInit(), vpMatrix::cond(), vpFeatureMoment::duplicate(), vp::eigen2visp(), vpMatrix::eigenValues(), vpFeatureLuminance::error(), vpMbtFaceDepthNormal::estimateFeatures(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), vpThetaUVector::extract(), vpRobotFranka::getCoriolis(), vpQbSoftHand::getCurrent(), vpSimulatorAfma6::getDisplacement(), vpSimulatorViper850::getDisplacement(), vpRobotAfma4::getDisplacement(), vpRobotAfma6::getDisplacement(), vpRobotViper650::getDisplacement(), vpRobotViper850::getDisplacement(), vpRobotFranka::getForceTorque(), vpRobotViper650::getForceTorque(), vpRobotViper850::getForceTorque(), vpRobotFranka::getGravity(), vpOccipitalStructure::getIMUAcceleration(), vpRealSense2::getIMUAcceleration(), vpRealSense2::getIMUData(), vpOccipitalStructure::getIMUData(), vpOccipitalStructure::getIMUVelocity(), vpRealSense2::getIMUVelocity(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), vpRobotFlirPtu::getJointPosition(), vpRobotKinova::getJointPosition(), vpPlane::getNormal(), vpRealSense2::getOdometryData(), vpTemplateTrackerWarpHomography::getParam(), vpRobotFranka::getPosition(), vpRobotKinova::getPosition(), vpRobotUniversalRobots::getPosition(), vpRobotAfma4::getPosition(), vpRobotAfma6::getPosition(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotBiclops::getPosition(), vpRobotCamera::getPosition(), vpRobotPololuPtu::getPosition(), vpRobotPtu46::getPosition(), vpSimulatorAfma6::getPosition(), vpSimulatorCamera::getPosition(), vpSimulatorPioneer::getPosition(), vpSimulatorPioneerPan::getPosition(), vpSimulatorViper850::getPosition(), vpQbSoftHand::getPosition(), vpRobotFranka::getVelocity(), vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpRobotBiclops::getVelocity(), vpRobotPtu46::getVelocity(), vpRobotPioneer::getVelocity(), vpRobotAfma4::getVelocity(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpPoint::getWorldCoordinates(), vpColVector::hadamard(), vpMeTracker::init(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpRobotBiclops::init(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpColVector::init(), vpImageSimulator::init(), vpTemplateTrackerTriangle::init(), vpFeatureLuminance::init(), vpKalmanFilter::init(), vpRobotAfma4::init(), vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpFeatureMoment::init(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbtDistanceLine::initInteractionMatrixError(), vpMatrix::kernel(), vpRobust::MEstimator(), vpMatrix::multMatrixVector(), vpMatrix::nullSpace(), vpColVector::operator,(), vpColVector::operator-(), vpColVector::operator<<(), vpColVector::operator=(), operator=(), vpPose::poseVirtualVSrobust(), vpPoint::projection(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), vpSphere::projection(), vpRobotAfma4::readPosFile(), vpRobotAfma6::readPosFile(), vpRobotFranka::readPosFile(), vpRobotUniversalRobots::readPosFile(), vpRobotViper650::readPosFile(), vpRobotViper850::readPosFile(), vpSimulatorAfma6::readPosFile(), vpSimulatorViper850::readPosFile(), vpRobotBiclops::readPositionFile(), vpRobotPtu46::readPositionFile(), vpLinProg::rowReduction(), vpLinProg::simplex(), vpLinProg::solveLP(), vpQuadProg::solveQPi(), vpColVector::stack(), vpMatrix::stackColumns(), vpMatrix::sub2Matrices(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpMbEdgeKltTracker::trackFirstLoop(), vpFeatureMoment::update(), vpGenericFeature::vpGenericFeature(), vpImageSimulator::vpImageSimulator(), vpMeEllipse::vpMeEllipse(), vpRobotWireFrameSimulator::vpRobotWireFrameSimulator(), vpRobust::vpRobust(), vpSickLDMRS::vpSickLDMRS(), vpTemplateTracker::vpTemplateTracker(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(), vpTemplateTrackerZNCC::vpTemplateTrackerZNCC(), and vpViper::vpViper().
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inlineinherited |
Resize the column vector to a nrows-dimension vector. This function can only be used with ncols = 1.
nrows | : Vector number of rows. This value corresponds to the size of the vector. |
ncols | : Vector number of columns. This value should be set to 1. |
flagNullify | : If true, set the data to zero. |
vpException::fatalError | When ncols is not equal to 1. |
Definition at line 1072 of file vpColVector.h.
References vpException::fatalError, and vpArray2D< Type >::resize().
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Set the size of the array and initialize all the values to zero.
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. |
Definition at line 352 of file vpArray2D.h.
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Definition at line 1397 of file vpColVector.h.
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Save a matrix to a file.
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. |
Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.
Definition at line 855 of file vpArray2D.h.
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Save an array in a YAML-formatted file.
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. |
Here is an example of outputs.
Content of matrix.yml:
Content of matrixIndent.yml:
Definition at line 950 of file vpArray2D.h.
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Return the number of elements of the 2D array.
Definition at line 339 of file vpArray2D.h.
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Compute the skew symmetric matrix of vector v.
v | : Input vector used to compute the skew symmetric matrix. |
Definition at line 718 of file vpColVector.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), and vpArray2D< Type >::resize().
Referenced by vpColVector::crossProd(), and vpFeatureThetaU::interaction().
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Return a column vector with elements of v that are sorted with values going from lowest to greatest.
Example:
Output:
Definition at line 600 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpException::fatalError, and vpArray2D< Type >::getRows().
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Stack column vectors.
A | : Initial vector. |
B | : Vector to stack at the end of A. |
Definition at line 633 of file vpColVector.cpp.
References vpColVector::stack().
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staticinherited |
Stack column vectors.
A | : Initial vector. |
B | : Vector to stack at the end of A. |
C | : Resulting stacked vector . |
Definition at line 640 of file vpColVector.cpp.
References vpArray2D< Type >::getRows(), and vpColVector::resize().
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Stack column vectors.
v | : Vector to stack to the existing one. |
Definition at line 631 of file vpColVector.cpp.
References vpColVector::stack().
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inherited |
Stack column vector with a new element at the end of the vector.
d | : Element to stack to the existing vector. |
Definition at line 625 of file vpColVector.cpp.
References vpColVector::resize(), and vpArray2D< double >::rowNum.
Referenced by vpFeatureVanishingPoint::error(), vpFeatureEllipse::error(), vpFeatureLine::error(), vpFeatureMomentAlpha::error(), vpFeaturePoint::error(), vpFeaturePoint3D::error(), vpFeaturePointPolar::error(), vpFeatureSegment::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpColVector::stack(), and vpMatrix::stackMatrices().
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inlinestaticinherited |
Definition at line 1410 of file vpColVector.h.
References vpMatrix::stack().
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inlinestaticinherited |
Definition at line 1415 of file vpColVector.h.
References vpMatrix::stack().
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inlineinherited |
Definition at line 1405 of file vpColVector.h.
References vpMatrix::stack().
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staticinherited |
Compute the standard deviation value of all the elements of the vector.
Definition at line 695 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< Type >::rowNum, vpArray2D< Type >::size(), and vpColVector::sum().
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Return the sum of all the elements of the column vector that is of dimension .
.
Definition at line 875 of file vpColVector.cpp.
References vpArray2D< double >::data, and vpArray2D< double >::rowNum.
Referenced by vpColVector::mean(), and vpColVector::stdev().
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Return the sum of squares of all the elements of the column vector that is of dimension .
.
Definition at line 888 of file vpColVector.cpp.
References vpArray2D< double >::data, and vpArray2D< double >::rowNum.
Referenced by vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpPose::coplanar(), vpFeatureDepth::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpMbTracker::extractCylinders(), vpColVector::frobeniusNorm(), vpFeatureThetaU::interaction(), vpMatrix::kernel(), vpColVector::normalize(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpServoData::save(), vpSimulatorAfma6::setPosition(), and vpSimulatorViper850::setPosition().
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Transpose the column vector. The resulting vector becomes a row vector.
Definition at line 509 of file vpColVector.cpp.
References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::rowNum.
Referenced by vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), vpServo::computeProjectionOperators(), vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpColVector::operator+(), vpPose::poseDementhonPlan(), vpForwardProjection::print(), vpServo::print(), vpMeEllipse::printParameters(), vpPose::printPoint(), vpServoData::save(), vpRobotKinova::setPosition(), vpRobotBiclops::setVelocity(), vpRobotPololuPtu::setVelocity(), vpLinProg::simplex(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpColVector::transpose().
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Converts the vpColVector to a std::vector.
Definition at line 437 of file vpColVector.cpp.
References vpArray2D< double >::data, and vpArray2D< double >::size().
Referenced by vpRobotUniversalRobots::get_fMe(), vpRobotUniversalRobots::setPosition(), and vpRobotUniversalRobots::setVelocity().
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inherited |
Transpose the column vector. The resulting vector becomes a row vector.
Definition at line 516 of file vpColVector.cpp.
References vpColVector::t().
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inherited |
Transpose the column vector. The resulting vector v becomes a row vector.
Definition at line 518 of file vpColVector.cpp.
References vpColVector::t().
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related |
Insert array B in array A at the given position.
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. |
Definition at line 1072 of file vpArray2D.h.
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related |
Allows to multiply a scalar by a column vector.
Definition at line 520 of file vpColVector.cpp.
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related |
Definition at line 1264 of file vpArray2D.h.
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related |
Definition at line 1282 of file vpArray2D.h.
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related |
This function performs generalized matrix multiplication: D = alpha*op(A)*op(B) + beta*op(C), where op(X) is X or X^T. Operation on A, B and C matrices is described by enumeration vpGEMMmethod().
For example, to compute D = alpha*A^T*B^T+beta*C we need to call :
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:
vpException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the operations. |
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. |
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related |
Enumeration of the operations applied on matrices in vpGEMM() function.
Operations are :
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protectedinherited |
Number of columns in the array.
Definition at line 131 of file vpArray2D.h.
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inherited |
Address of the first element of the data array.
Definition at line 139 of file vpArray2D.h.
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protectedinherited |
Current array size (rowNum * colNum)
Definition at line 135 of file vpArray2D.h.
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protected |
Parent vpColVector.
Definition at line 65 of file vpSubColVector.h.
Referenced by checkParentStatus(), and init().
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protected |
Number of row of parent vpColVector at initialization.
Definition at line 63 of file vpSubColVector.h.
Referenced by checkParentStatus(), init(), and operator=().
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protectedinherited |
Number of rows in the array.
Definition at line 129 of file vpArray2D.h.
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protectedinherited |
Address of the first element of each rows.
Definition at line 133 of file vpArray2D.h.