Visual Servoing Platform
version 3.6.1 under development (2024-04-26)
|
#include <visp3/core/vpTranslationVector.h>
Public Member Functions | |
vpTranslationVector () | |
vpTranslationVector (double tx, double ty, double tz) | |
vpTranslationVector (const vpTranslationVector &tv) | |
vpTranslationVector (const vpHomogeneousMatrix &M) | |
vpTranslationVector (const vpPoseVector &p) | |
vpTranslationVector (const vpColVector &v) | |
vpTranslationVector | buildFrom (double tx, double ty, double tz) |
vpTranslationVector | buildFrom (const vpHomogeneousMatrix &M) |
vpTranslationVector | buildFrom (const vpPoseVector &p) |
vpTranslationVector | buildFrom (const vpColVector &v) |
double | frobeniusNorm () const |
vpTranslationVector | operator+ (const vpTranslationVector &tv) const |
vpTranslationVector | operator+ (const vpColVector &v) const |
vpTranslationVector | operator- (const vpTranslationVector &tv) const |
vpTranslationVector | operator- () const |
vpMatrix | operator* (const vpRowVector &v) const |
vpTranslationVector | operator* (double x) const |
vpTranslationVector & | operator*= (double x) |
vpTranslationVector | operator/ (double x) const |
vpTranslationVector & | operator/= (double x) |
vpTranslationVector & | operator= (const vpColVector &tv) |
vpTranslationVector & | operator= (const vpTranslationVector &tv) |
vpTranslationVector & | operator= (double x) |
vpTranslationVector & | operator= (const std::initializer_list< double > &list) |
double & | operator[] (unsigned int n) |
const double & | operator[] (unsigned int n) const |
vpTranslationVector & | operator<< (double val) |
vpTranslationVector & | operator, (double val) |
void | resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true) |
void | set (double tx, double ty, double tz) |
vpMatrix | skew () const |
double | sumSquare () const |
vpRowVector | t () const |
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 vpTranslationVector | cross (const vpTranslationVector &a, const vpTranslationVector &b) |
static vpTranslationVector | mean (const std::vector< vpHomogeneousMatrix > &vec_M) |
static vpTranslationVector | mean (const std::vector< vpTranslationVector > &vec_t) |
static vpMatrix | skew (const vpTranslationVector &tv) |
static void | skew (const vpTranslationVector &tv, vpMatrix &M) |
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 |
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) |
Deprecated functions | |
unsigned int | m_index |
vp_deprecated double | euclideanNorm () const |
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) |
Class that consider the case of a translation vector.
Let us denote the translation from frame to frame . The representation of a translation is a column vector of dimension 3.
Translations along x,y,z axis are expressed in meters.
From the implementation point of view, it is nothing more than an array of three doubles with values in [meters].
You can set values [meters] accessing each element:
You can also initialize the vector using operator<<(double):
Or you can also initialize the vector from a list of doubles if ViSP is build with c++11 enabled:
To get the values [meters] use:
The code below shows how to use a translation vector to build an homogeneous matrix.
Definition at line 111 of file vpTranslationVector.h.
|
inline |
Default constructor. The translation vector is initialized to zero.
Definition at line 118 of file vpTranslationVector.h.
vpTranslationVector::vpTranslationVector | ( | double | tx, |
double | ty, | ||
double | tz | ||
) |
Construct a translation vector from 3 doubles.
tx,ty,tz | : Translation respectively along x, y and z axis. Values are in meters. |
Definition at line 52 of file vpTranslationVector.cpp.
vpTranslationVector::vpTranslationVector | ( | const vpTranslationVector & | tv | ) |
Copy constructor.
tv | : Translation vector to copy. |
Definition at line 95 of file vpTranslationVector.cpp.
|
explicit |
Construct a translation vector from the translation contained in an homogeneous matrix.
M | : Homogeneous matrix where translations are in meters. |
Definition at line 66 of file vpTranslationVector.cpp.
References vpHomogeneousMatrix::extract().
|
explicit |
Construct a translation vector from the translation contained in a pose vector.
p | : Pose vector where translations are in meters. |
Definition at line 78 of file vpTranslationVector.cpp.
|
explicit |
Construct a translation vector from a 3-dimension column vector.
v | : 3-dimension column vector. |
Definition at line 111 of file vpTranslationVector.cpp.
References vpException::dimensionError, and vpArray2D< Type >::size().
vpTranslationVector vpTranslationVector::buildFrom | ( | const vpColVector & | v | ) |
Build a 3 dimension translation vector from a 3-dimension column vector.
v | : 3-dimension column vector. |
Definition at line 164 of file vpTranslationVector.cpp.
References vpException::dimensionError, and vpArray2D< Type >::size().
vpTranslationVector vpTranslationVector::buildFrom | ( | const vpHomogeneousMatrix & | M | ) |
Build a 3 dimension translation vector from an homogeneous matrix .
M | : Homogeneous matrix from which translation and vectors are extracted to initialize the pose vector. |
Definition at line 132 of file vpTranslationVector.cpp.
References vpHomogeneousMatrix::extract().
vpTranslationVector vpTranslationVector::buildFrom | ( | const vpPoseVector & | p | ) |
Build a 3 dimension translation vector from the translation contained in a pose vector.
p | : Pose vector where translations are in meters. |
Definition at line 147 of file vpTranslationVector.cpp.
vpTranslationVector vpTranslationVector::buildFrom | ( | double | tx, |
double | ty, | ||
double | tz | ||
) |
Build a 3 dimension translation vector from 3 doubles.
tx,ty,tz | : Translation respectively along x, y and z axis in meter. |
Definition at line 185 of file vpTranslationVector.cpp.
References set().
|
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.
|
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.
|
static |
Return the cross product of two translation vectors .
a,b | : Translation vectors in input. |
Definition at line 702 of file vpTranslationVector.cpp.
References skew().
double vpTranslationVector::euclideanNorm | ( | ) | const |
Compute and return the Euclidean norm also called Frobenius nom of the translation vector .
Definition at line 730 of file vpTranslationVector.cpp.
References frobeniusNorm().
double vpTranslationVector::frobeniusNorm | ( | ) | const |
Compute and return the Frobenius norm .
Definition at line 739 of file vpTranslationVector.cpp.
References sumSquare().
Referenced by euclideanNorm().
|
inlineinherited |
Return the number of columns of the 2D array.
Definition at line 327 of file vpArray2D.h.
|
inherited |
Return the array max value.
Definition at line 329 of file vpArray2D.h.
|
inherited |
Return the array min value.
Definition at line 331 of file vpArray2D.h.
|
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.
|
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.
|
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.
|
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.
|
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.
|
static |
Compute the Euclidean mean of the translation vector extracted from a vector of homogeneous matrices.
[in] | vec_M | : Set of homogeneous matrices. |
Definition at line 772 of file vpTranslationVector.cpp.
References t().
|
static |
Compute the Euclidean mean of a vector of translation vector.
[in] | vec_t | : Set of translation vectors. |
Definition at line 793 of file vpTranslationVector.cpp.
References t().
|
inherited |
Not equal to comparison operator of a 2D array.
Definition at line 509 of file vpArray2D.h.
vpMatrix vpTranslationVector::operator* | ( | const vpRowVector & | v | ) | const |
Multiply a 3-by-1 dimension translation vector by a 1-by-n row vector.
v | : Row vector. |
Definition at line 356 of file vpTranslationVector.cpp.
References vpArray2D< Type >::getCols(), and vpArray2D< double >::rowNum.
vpTranslationVector vpTranslationVector::operator* | ( | double | x | ) | const |
Operator that allows to multiply each element of a translation vector by a scalar.
x | : The scalar. |
Definition at line 337 of file vpTranslationVector.cpp.
References vpArray2D< double >::data, vpArray2D< Type >::data, and vpArray2D< double >::dsize.
vpTranslationVector & vpTranslationVector::operator*= | ( | double | x | ) |
Operator that allows to multiply each element of a translation vector by a scalar.
x | : The scalar. |
Definition at line 376 of file vpTranslationVector.cpp.
References vpArray2D< double >::rowNum.
vpTranslationVector vpTranslationVector::operator+ | ( | const vpColVector & | v | ) | const |
Operator that allows to add a translation vector to a column vector.
v | : 3-dimension column vector to add. |
Definition at line 253 of file vpTranslationVector.cpp.
References vpException::dimensionError, and vpArray2D< Type >::size().
vpTranslationVector vpTranslationVector::operator+ | ( | const vpTranslationVector & | tv | ) | const |
Operator that allows to add two translation vectors.
tv | : Translation vector to add. |
Definition at line 222 of file vpTranslationVector.cpp.
vpTranslationVector & vpTranslationVector::operator, | ( | double | val | ) |
Set vector second and third element values.
val | : Value of the vector element [meter]. |
The following example shows how to initialize a translations vector from a list of 3 values [meter].
It produces the following printings:
Definition at line 599 of file vpTranslationVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, m_index, and vpArray2D< double >::size().
vpTranslationVector vpTranslationVector::operator- | ( | void | ) | const |
Operator that allows to negate a translation vector.
Definition at line 311 of file vpTranslationVector.cpp.
References vpArray2D< double >::data, vpArray2D< Type >::data, and vpArray2D< double >::dsize.
vpTranslationVector vpTranslationVector::operator- | ( | const vpTranslationVector & | tv | ) | const |
Operator that allows to subtract two translation vectors.
tv | : Translation vector to subtract. |
Definition at line 286 of file vpTranslationVector.cpp.
vpTranslationVector vpTranslationVector::operator/ | ( | double | x | ) | const |
Operator that allows to divide each element of a translation vector by a scalar.
x | : The scalar. |
Definition at line 415 of file vpTranslationVector.cpp.
References vpArray2D< double >::data, vpArray2D< Type >::data, and vpArray2D< double >::dsize.
vpTranslationVector & vpTranslationVector::operator/= | ( | double | x | ) |
Operator that allows to divide each element of a translation vector by a scalar.
x | : The scalar. |
Definition at line 391 of file vpTranslationVector.cpp.
References vpArray2D< double >::rowNum.
vpTranslationVector & vpTranslationVector::operator<< | ( | double | val | ) |
Set vector first element value.
val | : Value of the vector first element [meter]. |
The following example shows how to initialize a translation vector from a list of 3 values [meter].
It produces the following printings:
Definition at line 569 of file vpTranslationVector.cpp.
References vpArray2D< double >::data, and m_index.
vpTranslationVector & vpTranslationVector::operator= | ( | const std::initializer_list< double > & | list | ) |
Set vector from a list of 3 double values in meters.
It produces the following printings:
Definition at line 533 of file vpTranslationVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, and vpArray2D< double >::size().
vpTranslationVector & vpTranslationVector::operator= | ( | const vpColVector & | tv | ) |
Copy operator.
tv | : Translation vector to copy |
Definition at line 441 of file vpTranslationVector.cpp.
References vpArray2D< Type >::data, vpArray2D< double >::data, vpException::dimensionError, resize(), vpArray2D< double >::rowNum, and vpArray2D< Type >::size().
vpTranslationVector & vpTranslationVector::operator= | ( | const vpTranslationVector & | tv | ) |
Copy operator.
tv | : Translation vector to copy |
Definition at line 476 of file vpTranslationVector.cpp.
References vpArray2D< Type >::data, vpArray2D< double >::data, resize(), vpArray2D< double >::rowNum, and vpArray2D< Type >::rowNum.
vpTranslationVector & vpTranslationVector::operator= | ( | double | x | ) |
Initialize each element of a translation vector to the same value x.
x | : Value to set for each element of the translation vector. |
Definition at line 504 of file vpTranslationVector.cpp.
References vpArray2D< double >::data.
Equal to comparison operator of a 2D array.
Definition at line 505 of file vpArray2D.h.
|
inline |
Operator that allows to set a value of an element : t[i] = x.
Definition at line 156 of file vpTranslationVector.h.
|
inline |
Operator that allows to get the value of an element : x = t[i].
Definition at line 158 of file vpTranslationVector.h.
|
inlineinherited |
Definition at line 443 of file vpArray2D.h.
|
inline |
This function is not applicable to a translation vector that is always a 3-by-1 column vector.
vpException::fatalError | When this function is called. |
Definition at line 168 of file vpTranslationVector.h.
References vpException::fatalError.
Referenced by operator=().
|
inlineinherited |
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.
|
inlinestaticinherited |
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.
|
inlinestaticinherited |
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.
void vpTranslationVector::set | ( | double | tx, |
double | ty, | ||
double | tz | ||
) |
Initialize a translation vector from 3 doubles.
tx,ty,tz | : Translation respectively along x, y and z axis in meter. |
Definition at line 197 of file vpTranslationVector.cpp.
Referenced by buildFrom(), and vpPioneerPan::set_mMp().
|
inlineinherited |
Return the number of elements of the 2D array.
Definition at line 339 of file vpArray2D.h.
vpMatrix vpTranslationVector::skew | ( | ) | const |
Compute the skew symmetric matrix of the translation vector (matrice de pre-produit vectoriel), where
and where are the coordinates of the translation vector.
Definition at line 686 of file vpTranslationVector.cpp.
Referenced by cross(), vpViper::get_eJe(), and skew().
|
static |
Compute the skew symmetric matrix of translation vector tv.
tv | : Translation vector in input. |
Definition at line 661 of file vpTranslationVector.cpp.
References skew().
|
static |
Compute the skew symmetric matrix of translation vector tv.
tv | : Translation vector in input used to compute the skew symmetric matrix M. |
M | : Skew symmetric matrix of translation vector . |
Definition at line 629 of file vpTranslationVector.cpp.
References vpArray2D< Type >::resize().
double vpTranslationVector::sumSquare | ( | ) | const |
Return the sum square of all the elements of the translation vector t(m).
.
Definition at line 752 of file vpTranslationVector.cpp.
References vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.
Referenced by frobeniusNorm().
vpRowVector vpTranslationVector::t | ( | ) | const |
Transpose the translation vector. The resulting vector becomes a row vector.
Definition at line 711 of file vpTranslationVector.cpp.
References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::rowNum.
Referenced by mean().
|
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.
|
related |
Definition at line 1300 of file vpArray2D.h.
|
related |
Definition at line 1264 of file vpArray2D.h.
|
related |
Definition at line 1282 of file vpArray2D.h.
|
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. |
|
related |
Enumeration of the operations applied on matrices in vpGEMM() function.
Operations are :
|
protectedinherited |
Number of columns in the array.
Definition at line 131 of file vpArray2D.h.
|
inherited |
Address of the first element of the data array.
Definition at line 139 of file vpArray2D.h.
|
protectedinherited |
Current array size (rowNum * colNum)
Definition at line 135 of file vpArray2D.h.
|
protected |
Definition at line 201 of file vpTranslationVector.h.
Referenced by operator,(), and operator<<().
|
protectedinherited |
Number of rows in the array.
Definition at line 129 of file vpArray2D.h.
|
protectedinherited |
Address of the first element of each rows.
Definition at line 133 of file vpArray2D.h.