#include <vpHomogeneousMatrix.h>

Inheritance diagram for vpHomogeneousMatrix:

Public Types
enum	vpDetMethod { LU_DECOMPOSITION }

Public Member Functions
	vpHomogeneousMatrix ()

	vpHomogeneousMatrix (const vpHomogeneousMatrix &M)

	vpHomogeneousMatrix (const vpTranslationVector &t, const vpRotationMatrix &R)

	vpHomogeneousMatrix (const vpTranslationVector &t, const vpThetaUVector &tu)

	vpHomogeneousMatrix (const vpTranslationVector &t, const vpQuaternionVector &q)

	vpHomogeneousMatrix (const vpPoseVector &p)

	vpHomogeneousMatrix (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)

	vpHomogeneousMatrix (const std::vector< float > &v)

	vpHomogeneousMatrix (const std::vector< double > &v)

void	buildFrom (const vpTranslationVector &t, const vpRotationMatrix &R)

void	buildFrom (const vpTranslationVector &t, const vpThetaUVector &tu)

void	buildFrom (const vpTranslationVector &t, const vpQuaternionVector &q)

void	buildFrom (const std::vector< float > &v)

void	buildFrom (const std::vector< double > &v)

void	buildFrom (const vpPoseVector &p)

void	buildFrom (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)

void	convert (std::vector< float > &M)

void	convert (std::vector< double > &M)

vpTranslationVector	getTranslationVector ()

vpHomogeneousMatrix &	operator= (const vpHomogeneousMatrix &M)

vpHomogeneousMatrix	operator* (const vpHomogeneousMatrix &M) const

vpColVector	operator* (const vpColVector &v) const

vpHomogeneousMatrix	inverse () const

void	inverse (vpHomogeneousMatrix &Mi) const

bool	isAnHomogeneousMatrix () const

void	insert (const vpRotationMatrix &R)

void	insert (const vpThetaUVector &tu)

void	insert (const vpTranslationVector &t)

void	insert (const vpQuaternionVector &t)

void	extract (vpRotationMatrix &R) const

void	extract (vpTranslationVector &t) const

void	extract (vpThetaUVector &tu) const

void	extract (vpQuaternionVector &q) const

void	load (std::ifstream &f)

void	save (std::ofstream &f) const

void	eye ()

void	init ()

void	setIdentity ()

void	print ()

void	kill ()

void	eye (unsigned int n)

void	eye (unsigned int m, unsigned int n)

void	setIdentity (const double &val=1.0)

void	insert (const vpMatrix &A, const unsigned int r, const unsigned int c)

void	stackMatrices (const vpMatrix &A)

Columns, Rows extraction, Submatrix
void	init (const vpMatrix &M, unsigned int r, unsigned int c, unsigned int nrows, unsigned int ncols)

vpRowVector	getRow (const unsigned int i) const

vpRowVector	getRow (const unsigned int i, const unsigned int j_begin, const unsigned int size) const

vpColVector	getCol (const unsigned int j) const

vpColVector	getCol (const unsigned int j, const unsigned int i_begin, const unsigned int size) const

Set/get Matrix size
unsigned int	getRows () const

unsigned int	getCols () const

unsigned int	size () const

void	resize (const unsigned int nrows, const unsigned int ncols, const bool nullify=true)

double	getMinValue () const

double	getMaxValue () const

Copy / assignment
vpMatrix &	operator<< (double *)

void	diag (const vpColVector &A)

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

std::ostream &	matlabPrint (std::ostream &os) const

std::ostream &	maplePrint (std::ostream &os) const

std::ostream &	csvPrint (std::ostream &os) const

std::ostream &	cppPrint (std::ostream &os, const char *matrixName=NULL, bool octet=false) const

void	printSize ()

Access/modification operators
double *	operator[] (unsigned int i)

double *	operator[] (unsigned int i) const

Kronecker product
void	kron (const vpMatrix &m1, vpMatrix &out)

vpMatrix	kron (const vpMatrix &m1)

void	stackColumns (vpColVector &out)

vpColVector	stackColumns ()

void	stackRows (vpRowVector &out)

vpRowVector	stackRows ()

Matrix operations
vpMatrix &	operator+= (const vpMatrix &B)

vpMatrix &	operator+= (const double x)

vpMatrix &	operator-= (const vpMatrix &B)

vpMatrix &	operator-= (const double x)

vpMatrix	operator* (const vpMatrix &B) const

vpMatrix	operator* (const vpHomography &H) const

vpTranslationVector	operator* (const vpTranslationVector &b) const

vpMatrix	operator* (const double x) const

vpMatrix	operator+ (const vpMatrix &B) const

vpMatrix	operator- (const vpMatrix &B) const

vpMatrix	operator- () const

vpMatrix &	operator*= (const double x)

vpMatrix &	operator/= (double x)

vpMatrix	operator/ (const double x) const

double	sum () const

double	sumSquare () const

double	det (vpDetMethod method=LU_DECOMPOSITION) const

vpMatrix	expm ()

Transpose, Identity
vpMatrix	t () const

vpMatrix	transpose () const

void	transpose (vpMatrix &C) const

vpMatrix	AAt () const

void	AAt (vpMatrix &B) const

vpMatrix	AtA () const

void	AtA (vpMatrix &B) const

Matrix inversion
vpMatrix	inverseByLU () const

vpMatrix	inverseByCholesky () const

vpMatrix	inverseByCholeskyLapack () const

vpMatrix	inverseByQR () const

vpMatrix	inverseByQRLapack () const

vpMatrix	pseudoInverse (double svThreshold=1e-6) const

unsigned int	pseudoInverse (vpMatrix &Ap, double svThreshold=1e-6) const

unsigned int	pseudoInverse (vpMatrix &Ap, vpColVector &sv, double svThreshold=1e-6) const

unsigned int	pseudoInverse (vpMatrix &Ap, vpColVector &sv, double svThreshold, vpMatrix &ImA, vpMatrix &ImAt) const

unsigned int	pseudoInverse (vpMatrix &Ap, vpColVector &sv, double svThreshold, vpMatrix &ImA, vpMatrix &ImAt, vpMatrix &kerA) const

SVD decomposition
void	svd (vpColVector &w, vpMatrix &v)

void	solveBySVD (const vpColVector &B, vpColVector &x) const

vpColVector	solveBySVD (const vpColVector &B) const

unsigned int	kernel (vpMatrix &KerA, double svThreshold=1e-6)

double	cond ()

Eigen values
vpColVector	eigenValues ()

void	eigenValues (vpColVector &evalue, vpMatrix &evector)

Norms
double	euclideanNorm () const

double	infinityNorm () const

Deprecated functions
vp_deprecated vpRowVector	row (const unsigned int i)

vp_deprecated vpColVector	column (const unsigned int j)

Static Public Member Functions
static void	add2Matrices (const vpMatrix &A, const vpMatrix &B, vpMatrix &C)

static void	add2WeightedMatrices (const vpMatrix &A, const double &wA, const vpMatrix &B, const double &wB, vpMatrix &C)

static vpMatrix	computeCovarianceMatrix (const vpMatrix &A, const vpColVector &x, const vpColVector &b)

static vpMatrix	computeCovarianceMatrix (const vpMatrix &A, const vpColVector &x, const vpColVector &b, const vpMatrix &w)

static void	computeHLM (const vpMatrix &H, const double &alpha, vpMatrix &HLM)

static void	createDiagonalMatrix (const vpColVector &A, vpMatrix &DA)

static vpMatrix	insert (const vpMatrix &A, const vpMatrix &B, const unsigned int r, const unsigned int c)

static void	insert (const vpMatrix &A, const vpMatrix &B, vpMatrix &C, const unsigned int r, const unsigned int c)

static vpMatrix	juxtaposeMatrices (const vpMatrix &A, const vpMatrix &B)

static void	juxtaposeMatrices (const vpMatrix &A, const vpMatrix &B, vpMatrix &C)

static void	kron (const vpMatrix &m1, const vpMatrix &m2, vpMatrix &out)

static vpMatrix	kron (const vpMatrix &m1, const vpMatrix &m2)

static bool	loadMatrix (std::string filename, vpMatrix &M, const bool binary=false, char *Header=NULL)

static bool	loadMatrix (const char filename, vpMatrix &M, const bool binary=false, char Header=NULL)

static void	mult2Matrices (const vpMatrix &A, const vpMatrix &B, vpMatrix &C)

static void	multMatrixVector (const vpMatrix &A, const vpColVector &b, vpColVector &c)

static void	negateMatrix (const vpMatrix &A, vpMatrix &C)

static bool	saveMatrix (std::string filename, const vpMatrix &M, const bool binary=false, const char *Header="")

static bool	saveMatrix (const char filename, const vpMatrix &M, const bool binary=false, const char Header="")

static bool	saveMatrixYAML (std::string filename, const vpMatrix &M, const char *header="")

static bool	saveMatrixYAML (const char filename, const vpMatrix &M, const char header="")

static bool	loadMatrixYAML (std::string filename, vpMatrix &M, char *header=NULL)

static bool	loadMatrixYAML (const char filename, vpMatrix &M, char header=NULL)

static vpMatrix	stackMatrices (const vpMatrix &A, const vpMatrix &B)

static void	stackMatrices (const vpMatrix &A, const vpMatrix &B, vpMatrix &C)

static void	sub2Matrices (const vpMatrix &A, const vpMatrix &B, vpMatrix &C)

Public Attributes
double *	data

Protected Attributes
unsigned int	rowNum

unsigned int	colNum

double **	rowPtrs

unsigned int	dsize

unsigned int	trsize

Related Functions
(Note that these are not member functions.)
enum	vpGEMMmethod

vpMatrix	operator* (const double &x, const vpMatrix &B)

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

void	skew (const vpTranslationVector &t, vpMatrix &M)

Detailed Description

The class provides a data structure for the homogeneous matrices as well as a set of operations on these matrices.

The vpHomogeneousMatrix is derived from vpMatrix.

Author: Eric Marchand (Eric..nosp@m.Marc.nosp@m.hand@.nosp@m.iris.nosp@m.a.fr) Irisa / Inria Rennes

An homogeneous matrix is 4x4 matrix defines as

$^a{\bf M}_b = \left(\begin{array}{cc} ^a{\bf R}_b & ^a{\bf t}_b \\ {\bf 0}_{1\times 3} & 1 \end{array} \right)$

that defines the position of frame b in frame a

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

Examples:: AROgre.cpp, AROgreBasic.cpp, calibrateTsai.cpp, exponentialMap.cpp, HelloWorldOgre.cpp, HelloWorldOgreAdvanced.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, poseVirtualVS.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testDisplacement.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testViper850.cpp, tutorial-detection-object-mbt.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-image-simulator.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-tracking.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, and wireframeSimulator.cpp.

Definition at line 103 of file vpHomogeneousMatrix.h.

Member Enumeration Documentation

enum vpMatrix::vpDetMethod

inherited

Method used to compute the determinant of a square matrix.

See also: det()

Enumerator
LU_DECOMPOSITION	LU decomposition method.

Definition at line 105 of file vpMatrix.h.

Constructor & Destructor Documentation

vpHomogeneousMatrix::vpHomogeneousMatrix ( )

Basic constructor.

Initialize an homogeneous matrix as identity.

Definition at line 99 of file vpHomogeneousMatrix.cpp.

References init().

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpHomogeneousMatrix & M )

Copy constructor.

Initialize an homogeneous matrix from another homogeneous matrix.

Definition at line 108 of file vpHomogeneousMatrix.cpp.

References init().

vpHomogeneousMatrix::vpHomogeneousMatrix	(	const vpTranslationVector &	t,
		const vpRotationMatrix &	R
	)

Construction from translation vector and rotation matrix.

Definition at line 121 of file vpHomogeneousMatrix.cpp.

References init(), and insert().

vpHomogeneousMatrix::vpHomogeneousMatrix	(	const vpTranslationVector &	t,
		const vpThetaUVector &	tu
	)

Construction from translation vector and theta u rotation vector.

Definition at line 114 of file vpHomogeneousMatrix.cpp.

References buildFrom(), and init().

vpHomogeneousMatrix::vpHomogeneousMatrix	(	const vpTranslationVector &	t,
		const vpQuaternionVector &	q
	)

Construction from translation vector and quaternion rotation vector.

Definition at line 89 of file vpHomogeneousMatrix.cpp.

References buildFrom(), and init().

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpPoseVector & p )

Construction from translation vector and theta u rotation vector defined as a pose vector.

Definition at line 129 of file vpHomogeneousMatrix.cpp.

References buildFrom(), and init().

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

Construction from translation and rotation defined as a theta u vector.

Definition at line 224 of file vpHomogeneousMatrix.cpp.

References buildFrom(), and init().

vpHomogeneousMatrix::vpHomogeneousMatrix ( const std::vector< float > & v )

Creates an homogeneous matrix from a vector.

Parameters

v	: Vector of 12 or 16 values corresponding to the values of the homogeneous matrix.

The following example shows how to use this function:

#include <visp/vpHomogeneousMatrix.h>
int main()
{
  std::vector<float> v(12, 0);
  v[1]  = -1.; // ry=-90
  v[4]  =  1.; // rx=90
  v[10] = -1.; // rz=-90
  v[3]  = 0.3; // tx
  v[7]  = 0.4; // ty
  v[11] = 0.5; // tz
  std::cout << "v: ";
  for(unsigned int i=0; i<v.size(); i++)
    std::cout << v[i] << " ";
  std::cout << std::endl;
  vpHomogeneousMatrix M(v);
  std::cout << "M:\n" << M << std::endl;
}

It produces the following printings:

v: 0 -1 0 0.3 1 0 0 0.4 0 0 -1 0.5
M:
0  -1  0  0.3000000119
1  0  0  0.400000006
0  0  -1  0.5
0  0  0  1

Definition at line 174 of file vpHomogeneousMatrix.cpp.

References buildFrom(), and init().

vpHomogeneousMatrix::vpHomogeneousMatrix ( const std::vector< double > & v )

Creates an homogeneous matrix from a vector.

Parameters

v	: Vector of 12 or 16 values corresponding to the values of the homogeneous matrix.

The following example shows how to use this function:

#include <visp/vpHomogeneousMatrix.h>
int main()
{
  std::vector<double> v(12, 0);
  v[1]  = -1.; // ry=-90
  v[4]  =  1.; // rx=90
  v[10] = -1.; // rz=-90
  v[3]  = 0.3; // tx
  v[7]  = 0.4; // ty
  v[11] = 0.5; // tz
  std::cout << "v: ";
  for(unsigned int i=0; i<v.size(); i++)
    std::cout << v[i] << " ";
  std::cout << std::endl;
  vpHomogeneousMatrix M(v);
  std::cout << "M:\n" << M << std::endl;
}

It produces the following printings:

v: 0 -1 0 0.3 1 0 0 0.4 0 0 -1 0.5
M:
0  -1  0  0.3
1  0  0  0.4
0  0  -1  0.5
0  0  0  1

Definition at line 218 of file vpHomogeneousMatrix.cpp.

References buildFrom(), and init().

Member Function Documentation

vpMatrix vpMatrix::AAt ( ) const

inherited

Computes the $AA^T$ operation $B = A*A^T$

Returns

See also: AAt(vpMatrix &) const

Definition at line 1368 of file vpMatrix.cpp.

void vpMatrix::AAt ( vpMatrix & B ) const

inherited

Compute the AAt operation such as $B = A*A^T$ .

The result is placed in the parameter B and not returned.

A new matrix won't be allocated for every use of the function. This results in a speed gain if used many times with the same result matrix size.

See also: AAt()

Definition at line 1388 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, vpCERROR, and vpERROR_TRACE.

void vpMatrix::add2Matrices	(	const vpMatrix &	A,
		const vpMatrix &	B,
		vpMatrix &	C
	)

staticinherited

Operation C = A + B.

The result is placed in the third parameter C and not returned. A new matrix won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).

See also: operator+()

Definition at line 602 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

Referenced by vpMatrix::operator+().

void vpMatrix::add2WeightedMatrices	(	const vpMatrix &	A,
		const double &	wA,
		const vpMatrix &	B,
		const double &	wB,
		vpMatrix &	C
	)

staticinherited

Operation C = A*wA + B*wB

The result is placed in the third parameter C and not returned. A new matrix won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).

See also: operator+()

Definition at line 563 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

vpMatrix vpMatrix::AtA ( ) const

inherited

Compute the AtA operation such as $B = A^T*A$

Returns

See also: AtA(vpMatrix &) const

Examples:: photometricVisualServoing.cpp, and testMatrixInverse.cpp.

Definition at line 1479 of file vpMatrix.cpp.

Referenced by vpCalibration::calibrationTsai(), vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpTemplateTrackerWarpHomographySL3::findWarp(), and vpNurbs::globalCurveApprox().

void vpMatrix::AtA ( vpMatrix & B ) const

inherited

Compute the AtA operation such as $B = A^T*A$ .

The result is placed in the parameter B and not returned.

A new matrix won't be allocated for every use of the function. This results in a speed gain if used many times with the same result matrix size.

See also: AtA()

Definition at line 1431 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::data, vpMatrix::resize(), vpMatrix::rowNum, vpCERROR, and vpERROR_TRACE.

void vpHomogeneousMatrix::buildFrom	(	const vpTranslationVector &	t,
		const vpRotationMatrix &	R
	)

Construction from translation vector and rotation matrix.

Examples:: calibrateTsai.cpp, mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuThetaUCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, and testRobotViper850Pose.cpp.

Definition at line 244 of file vpHomogeneousMatrix.cpp.

References init(), and insert().

Referenced by vpHomography::buildFrom(), vpViper650::init(), vpViper850::init(), vpAfma6::init(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpMbTracker::initClick(), vpMbTracker::initFromPose(), vpWireFrameSimulator::navigation(), vpViper650::parseConfigFile(), vpViper850::parseConfigFile(), vpAfma6::parseConfigFile(), vpPioneerPan::set_cMe(), vpWireFrameSimulator::setExternalCameraPosition(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpAfma4::vpAfma4(), vpHomogeneousMatrix(), vpKinect::vpKinect(), and vpWireFrameSimulator::vpWireFrameSimulator().

void vpHomogeneousMatrix::buildFrom	(	const vpTranslationVector &	t,
		const vpThetaUVector &	tu
	)

Construction from translation vector and theta u rotation vector.

Definition at line 236 of file vpHomogeneousMatrix.cpp.

References insert().

void vpHomogeneousMatrix::buildFrom	(	const vpTranslationVector &	t,
		const vpQuaternionVector &	q
	)

Construction from translation vector and quaternion rotation vector.

Definition at line 264 of file vpHomogeneousMatrix.cpp.

References insert().

void vpHomogeneousMatrix::buildFrom ( const std::vector< float > & v )

Converts a vector to an homogeneous matrix.

Parameters

v	: Vector of 12 or 16 values corresponding to the values of the homogeneous matrix.

The following example shows how to use this function:

#include <visp/vpHomogeneousMatrix.h>
int main()
{
  std::vector<float> v(12, 0);
  v[1]  = -1.; // ry=-90
  v[4]  =  1.; // rx=90
  v[10] = -1.; // rz=-90
  v[3]  = 0.3; // tx
  v[7]  = 0.4; // ty
  v[11] = 0.5; // tz
  std::cout << "v: ";
  for(unsigned int i=0; i<v.size(); i++)
    std::cout << v[i] << " ";
  std::cout << std::endl;
  vpHomogeneousMatrix M;
  M.buildFrom(v);
  std::cout << "M:\n" << M << std::endl;
}

It produces the following printings:

v: 0 -1 0 0.3 1 0 0 0.4 0 0 -1 0.5
M:
0  -1  0  0.3000000119
1  0  0  0.400000006
0  0  -1  0.5
0  0  0  1

Definition at line 326 of file vpHomogeneousMatrix.cpp.

References vpMatrix::data, and vpException::dimensionError.

void vpHomogeneousMatrix::buildFrom ( const std::vector< double > & v )

Converts a vector to an homogeneous matrix.

Parameters

v	: Vector of 12 or 16 values corresponding to the values of the homogeneous matrix.

The following example shows how to use this function:

#include <visp/vpHomogeneousMatrix.h>
int main()
{
  std::vector<double> v(12, 0);
  v[1]  = -1.; // ry=-90
  v[4]  =  1.; // rx=90
  v[10] = -1.; // rz=-90
  v[3]  = 0.3; // tx
  v[7]  = 0.4; // ty
  v[11] = 0.5; // tz
  std::cout << "v: ";
  for(unsigned int i=0; i<v.size(); i++)
    std::cout << v[i] << " ";
  std::cout << std::endl;
  vpHomogeneousMatrix M;
  M.buildFrom(v);
  std::cout << "M:\n" << M << std::endl;
}

It produces the following printings:

v: 0 -1 0 0.3 1 0 0 0.4 0 0 -1 0.5
M:
0  -1  0  0.3
1  0  0  0.4
0  0  -1  0.5
0  0  0  1

Definition at line 376 of file vpHomogeneousMatrix.cpp.

References vpMatrix::data, and vpException::dimensionError.

void vpHomogeneousMatrix::buildFrom ( const vpPoseVector & p )

Construction from translation vector and theta u rotation vector defined as a pose vector.

Definition at line 254 of file vpHomogeneousMatrix.cpp.

References insert().

void vpHomogeneousMatrix::buildFrom	(	const double	tx,
		const double	ty,
		const double	tz,
		const double	tux,
		const double	tuy,
		const double	tuz
	)

Construction from translation and rotation defined as a theta u vector.

Definition at line 272 of file vpHomogeneousMatrix.cpp.

References insert().

vpColVector vpMatrix::column ( const unsigned int j )

inherited

Deprecated:: This method is deprecated. You should use getCol().

Return the j-th columns of the matrix.

Warning: notice column(1) is the 0-th column.

Parameters

j	: Index of the column to extract.

Definition at line 2362 of file vpMatrix.cpp.

References vpMatrix::getRows().

vpMatrix vpMatrix::computeCovarianceMatrix	(	const vpMatrix &	A,
		const vpColVector &	x,
		const vpColVector &	b
	)

staticinherited

Compute the covariance matrix of the parameters x from a least squares minimisation defined as: Ax = b

Parameters

A	: Matrix A from Ax = b.
x	: Vector x from Ax = b corresponding to the parameters to estimate.
b	: Vector b from Ax = b.

Definition at line 61 of file vpMatrix_covariance.cpp.

References vpException::divideByZeroError, vpMatrix::getCols(), vpMatrix::getRows(), vpMatrix::pseudoInverse(), and vpMatrix::t().

Referenced by vpMbTracker::computeCovarianceMatrix(), vpPose::poseVirtualVS(), and vpPose::poseVirtualVSrobust().

vpMatrix vpMatrix::computeCovarianceMatrix	(	const vpMatrix &	A,
		const vpColVector &	x,
		const vpColVector &	b,
		const vpMatrix &	W
	)

staticinherited

Compute the covariance matrix of the parameters x from a least squares minimisation defined as: WAx = Wb

Parameters

A	: Matrix A from WAx = Wb.
x	: Vector x from WAx = Wb corresponding to the parameters to estimate.
b	: Vector b from WAx = Wb.
W	: Diagonal weigths matrix from WAx = Wb.

Definition at line 89 of file vpMatrix_covariance.cpp.

References vpException::divideByZeroError, vpMatrix::getCols(), and vpMatrix::t().

void vpMatrix::computeHLM	(	const vpMatrix &	H,
		const double &	alpha,
		vpMatrix &	HLM
	)

staticinherited

Compute ${\bf H} + \alpha * diag({\bf H})$

Parameters

H	: input Matrix ${\bf H}$ . This matrix should be square.
alpha	: Scalar $\alpha$
HLM	: Resulting operation.

Definition at line 4320 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::resize(), and vpTRACE.

Referenced by vpTemplateTrackerWarpHomographySL3::findWarp(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTracker::setHDes(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), and vpTemplateTrackerSSDForwardAdditional::trackNoPyr().

double vpMatrix::cond ( )

inherited

Returns: The condition number, the ratio of the largest singular value of the matrix to the smallest.

Definition at line 4295 of file vpMatrix.cpp.

References vpMatrix::getCols(), and vpMatrix::svd().

void vpHomogeneousMatrix::convert ( std::vector< float > & M )

Converts an homogenous matrix to a vector of 12 floats.

Parameters

M	: Converted matrix.

Definition at line 738 of file vpHomogeneousMatrix.cpp.

References vpMatrix::data.

void vpHomogeneousMatrix::convert ( std::vector< double > & M )

Converts an homogenous matrix to a vector of 12 doubles.

Parameters

M	: Converted matrix.

Definition at line 749 of file vpHomogeneousMatrix.cpp.

References vpMatrix::data.

std::ostream & vpMatrix::cppPrint	(	std::ostream &	os,
		const char *	matrixName = `NULL`,
		bool	octet = `false`
	)		const

inherited

Print to be used as part of a C++ code later.

Print under the following form: vpMatrix A(6,4); A[0][0] = 1.4; A[0][1] = 0.6; ...

Parameters

os	the stream to be printed in.
matrixName	name of the matrix, "A" by default, to be used for the line vpMatrix A(6,7) (see example).
octet	if false, print using double, if true, print byte per byte each bytes of the double array.

Definition at line 3120 of file vpMatrix.cpp.

References vpMatrix::getRows().

void vpMatrix::createDiagonalMatrix	(	const vpColVector &	A,
		vpMatrix &	DA
	)

staticinherited

Create a diagonal matrix with the element of a vector $DA_{ii} = A_i$ .

Parameters

A	: Vector which element will be put in the diagonal.
DA	: Diagonal matrix DA[i][i] = A[i]

See also: diag()

Definition at line 2869 of file vpMatrix.cpp.

References vpMatrix::getRows(), vpMatrix::resize(), vpCERROR, and vpERROR_TRACE.

std::ostream & vpMatrix::csvPrint ( std::ostream & os ) const

inherited

Print matrix in csv format.

Print as comma separated values so that this output can be imported into any program which has a csv data import option: 0.939846, 0.0300754, 0.340272 0.0300788, 0.984961, -0.170136 -0.340272, 0.170136, 0.924807

Definition at line 3087 of file vpMatrix.cpp.

References vpMatrix::getCols(), and vpMatrix::getRows().

double vpMatrix::det ( vpDetMethod method = LU_DECOMPOSITION ) const

inherited

Compute the determinant of a n-by-n matrix.

Parameters

method : Method used to compute the determinant. Default LU decomposition methos is faster than the method based on Gaussian elimination.

Returns: Determinant of the matrix.

#include <iostream>
#include <visp/vpMatrix.h>
int main()
{
vpMatrix A(3,3);
A[0][0] = 1/1.; A[0][1] = 1/2.; A[0][2] = 1/3.;
A[1][0] = 1/3.; A[1][1] = 1/4.; A[1][2] = 1/5.;
A[2][0] = 1/6.; A[2][1] = 1/7.; A[2][2] = 1/8.;
std::cout << "Initial matrix: \n" << A << std::endl;
// Compute the determinant
std:: cout << "Determinant by default method  : " << 
A.det() << std::endl;
std:: cout << "Determinant by LU decomposition: " << 
A.det(vpMatrix::LU_DECOMPOSITION ) << std::endl;
}

Examples:: testMatrixInverse.cpp.

Definition at line 3765 of file vpMatrix.cpp.

References vpMatrix::LU_DECOMPOSITION.

Referenced by vpTemplateTrackerTriangle::init().

void vpMatrix::diag ( const vpColVector & A )

inherited

Create a diagonal matrix with the element of a vector.

Parameters

A	: Vector which element will be put in the diagonal.

See also: createDiagonalMatrix()

#include <iostream>
#include <visp/vpColVector.h>
#include <visp/vpMatrix.h>
int main()
{
vpMatrix A;
vpColVector v(3);
v[0] = 1;
v[1] = 2;
v[2] = 3;
A.diag(v);
std::cout << "A:\n" << A << std::endl;
// A is now equal to:
// 1 0 0
// 0 2 0
// 0 0 3
}

Definition at line 2841 of file vpMatrix.cpp.

References vpMatrix::getRows(), vpMatrix::resize(), vpCERROR, and vpERROR_TRACE.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), and vpMbEdgeTracker::computeVVS().

vpColVector vpMatrix::eigenValues ( )

inherited

Compute the eigenvalues of a n-by-n real symmetric matrix.

Returns: The eigenvalues of a n-by-n real symmetric matrix.

Warning: This method is only available if the Gnu Scientific Library (GSL) is detected as a third party library.

Exceptions

vpMatrixException::matrixError	If the matrix is not square or if the matrix is not symmetric.
vpMatrixException::notImplementedError	If the GSL library is not detected

Here an example:

#include <iostream>
#include <visp/vpColVector.h>
#include <visp/vpMatrix.h>
int main()
{
vpMatrix A(3,3); // A is a symmetric matrix
A[0][0] = 1/1.; A[0][1] = 1/2.; A[0][2] = 1/3.;
A[1][0] = 1/2.; A[1][1] = 1/3.; A[1][2] = 1/4.;
A[2][0] = 1/3.; A[2][1] = 1/4.; A[2][2] = 1/5.;
std::cout << "Initial symmetric matrix: \n" << A << std::endl;
// Compute the eigen values
vpColVector evalue; // Eigenvalues
evalue = A.eigenValues();
std::cout << "Eigen values: \n" << evalue << std::endl;
}

See also: eigenValues(vpColVector &, vpMatrix &)

Definition at line 3348 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrixException::matrixError, vpMatrixException::notImplementedError, vpMatrix::rowNum, vpMatrix::t(), and vpERROR_TRACE.

void vpMatrix::eigenValues	(	vpColVector &	evalue,
		vpMatrix &	evector
	)

inherited

Compute the eigenvalues of a n-by-n real symmetric matrix.

Returns: The eigenvalues of a n-by-n real symmetric matrix.

Warning: This method is only available if the Gnu Scientific Library (GSL) is detected as a third party library.

Parameters

evalue	: Eigenvalues of the matrix.
evector	: Eigenvector of the matrix.

Exceptions

vpMatrixException::matrixError	If the matrix is not square or if the matrix is not symmetric.
vpMatrixException::notImplementedError	If the GSL library is not detected

Here an example:

#include <iostream>
#include <visp/vpColVector.h>
#include <visp/vpMatrix.h>
int main()
{
vpMatrix A(4,4); // A is a symmetric matrix
A[0][0] = 1/1.; A[0][1] = 1/2.; A[0][2] = 1/3.; A[0][3] = 1/4.;
A[1][0] = 1/2.; A[1][1] = 1/3.; A[1][2] = 1/4.; A[1][3] = 1/5.;
A[2][0] = 1/3.; A[2][1] = 1/4.; A[2][2] = 1/5.; A[2][3] = 1/6.;
A[3][0] = 1/4.; A[3][1] = 1/5.; A[3][2] = 1/6.; A[3][3] = 1/7.;
std::cout << "Initial symmetric matrix: \n" << A << std::endl;
vpColVector d; // Eigenvalues
vpMatrix    V; // Eigenvectors
// Compute the eigenvalues and eigenvectors
A.eigenValues(d, V);
std::cout << "Eigen values: \n" << d << std::endl;
std::cout << "Eigen vectors: \n" << V << std::endl;
vpMatrix D;
D.diag(d); // Eigenvalues are on the diagonal
std::cout << "D: " << D << std::endl;
// Verification: A * V = V * D
std::cout << "AV-VD = 0 ? \n" << (A*V) - (V*D) << std::endl;
}

See also: eigenValues()

Definition at line 3467 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::data, vpMatrixException::matrixError, vpMatrixException::notImplementedError, vpColVector::resize(), vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::t(), and vpERROR_TRACE.

double vpMatrix::euclideanNorm ( ) const

inherited

Compute and return the Euclidean norm $||x|| = \sqrt{ \sum{x_{ij}^2}}$ .

Returns: The Euclidean norm if the matrix is initialized, 0 otherwise.

See also: infinityNorm()

Definition at line 3168 of file vpMatrix.cpp.

References vpMatrix::data, and vpMatrix::dsize.

Referenced by vpSimulatorAfma6::setPosition().

vpMatrix vpMatrix::expm ( )

inherited

Compute the exponential matrix of a square matrix.

Returns: Return the exponential matrix.

Definition at line 4137 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::data, vpMatrixException::incorrectMatrixSizeError, vpMatrix::inverseByLU(), vpMatrix::rowNum, vpMatrix::setIdentity(), vpMatrix::sum(), and vpTRACE.

Referenced by vpTemplateTrackerWarpHomographySL3::computeCoeff().

void vpHomogeneousMatrix::extract ( vpRotationMatrix & R ) const

Extract the rotational matrix from the homogeneous matrix.

Parameters

R	: rotational component as a rotation matrix.

Examples:: calibrateTsai.cpp, exponentialMap.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, and testViper850.cpp.

Definition at line 486 of file vpHomogeneousMatrix.cpp.

Referenced by vpPoseVector::buildFrom(), vpVelocityTwistMatrix::buildFrom(), vpForceTwistMatrix::buildFrom(), vpThetaUVector::buildFrom(), vpFeatureThetaU::buildFrom(), vpCalibration::calibrationTsai(), vpMbTracker::computeCovarianceMatrix(), vpMbtDistanceKltPoints::computeHomography(), vpViper::get_eJe(), vpViper::get_fJe(), vpRobotAfma6::getDisplacement(), vpRobotCamera::getPosition(), vpSimulatorCamera::getPosition(), vpSimulatorPioneer::getPosition(), vpSimulatorPioneerPan::getPosition(), vpSimulatorAfma6::getPosition(), vpRobotAfma4::getPosition(), vpSimulatorViper850::getPosition(), vpRobotAfma6::getPosition(), vpRobotAfma6::getVelocity(), vpRobotViper850::getVelocity(), vpRobotViper650::getVelocity(), vpExponentialMap::inverse(), inverse(), isAnHomogeneousMatrix(), operator*(), vpPose::poseLowe(), vpImageSimulator::setCameraPosition(), vpWireFrameSimulator::setExternalCameraPosition(), vpMbKltTracker::setPose(), vpAROgre::setPosition(), vpSimulatorAfma6::setPosition(), vpRobotAfma4::setVelocity(), and vpFeatureThetaU::vpFeatureThetaU().

void vpHomogeneousMatrix::extract ( vpTranslationVector & tv ) const

Extract the translation vector from the homogeneous matrix.

Definition at line 499 of file vpHomogeneousMatrix.cpp.

void vpHomogeneousMatrix::extract ( vpThetaUVector & tu ) const

Extract the rotation as a Theta U vector.

Definition at line 509 of file vpHomogeneousMatrix.cpp.

References vpThetaUVector::buildFrom().

void vpHomogeneousMatrix::extract ( vpQuaternionVector & q ) const

Extract the rotation as a quaternion.

Definition at line 521 of file vpHomogeneousMatrix.cpp.

References vpQuaternionVector::buildFrom().

void vpMatrix::eye ( unsigned int n )

inherited

Set an n-by-n matrix to identity.

eye(n) is an n-by-n matrix with ones on the diagonal and zeros else where.

Examples:: testMatrix.cpp.

Definition at line 1252 of file vpMatrix.cpp.

References vpCERROR, and vpERROR_TRACE.

Referenced by vpMbEdgeTracker::computeVVS(), and vpServo::setServo().

void vpMatrix::eye	(	unsigned int	m,
		unsigned int	n
	)

inherited

Set an m-by-n matrix to identity.

eye(m,n) is an m-by-n matrix with ones on the diagonal and zeros else where.

Definition at line 1272 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::resize(), vpMatrix::rowNum, vpCERROR, and vpERROR_TRACE.

void vpHomogeneousMatrix::eye ( )

Set transformation to identity.

Examples:: calibrateTsai.cpp.

Definition at line 611 of file vpHomogeneousMatrix.cpp.

vpColVector vpMatrix::getCol ( const unsigned int j ) const

inherited

Extract a column vector from a matrix.

Warning: All the indexes start from 0 in this function.

Parameters

j	: Index of the column to extract. If j=0, the first column is extracted.

Returns: The extracted column vector.

The following example shows how to use this function:

#include <visp/vpColVector.h>
#include <visp/vpMatrix.h>
int main()
{
  vpMatrix A(4,4);
  for(unsigned int i=0; i < A.getRows(); i++)
    for(unsigned int j=0; j < A.getCols(); j++)
      A[i][j] = i*A.getCols()+j;
  A.print(std::cout, 4);
  vpColVector cv = A.getCol(1);
  std::cout << "Column vector: \n" << cv << std::endl;
}

It produces the following output:

[4,4]=
   0  1  2  3
   4  5  6  7
   8  9 10 11
  12 13 14 15
column vector:
1
5
9
13

Definition at line 2463 of file vpMatrix.cpp.

References vpException::dimensionError, vpMatrix::getCols(), and vpMatrix::getRows().

Referenced by vpHomography::DLT(), vpPose::poseDementhonPlan(), and vpPose::poseFromRectangle().

vpColVector vpMatrix::getCol	(	const unsigned int	j,
		const unsigned int	i_begin,
		const unsigned int	column_size
	)		const

inherited

Extract a column vector from a matrix.

Warning: All the indexes start from 0 in this function.

Parameters

j	: Index of the column to extract. If col=0, the first column is extracted.
i_begin	: Index of the row that gives the location of the first element of the column vector to extract.
column_size	: Size of the column vector to extract.

Returns: The extracted column vector.

The following example shows how to use this function:

#include <visp/vpColVector.h>
#include <visp/vpMatrix.h>
int main()
{
  vpMatrix A(4,4);
  for(unsigned int i=0; i < A.getRows(); i++)
    for(unsigned int j=0; j < A.getCols(); j++)
      A[i][j] = i*A.getCols()+j;
  A.print(std::cout, 4);
  vpColVector cv = A.getCol(1, 1, 3);
  std::cout << "Column vector: \n" << cv << std::endl;
}

It produces the following output:

[4,4]=
   0  1  2  3
   4  5  6  7
   8  9 10 11
  12 13 14 15
column vector:
5
9
13

Definition at line 2413 of file vpMatrix.cpp.

References vpException::dimensionError, vpMatrix::getCols(), and vpMatrix::getRows().

unsigned int vpMatrix::getCols ( ) const

inlineinherited

Return the number of columns of the matrix.

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testMatrixInverse.cpp, and testSvd.cpp.

Definition at line 163 of file vpMatrix.h.

Referenced by vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpServo::computeControlLaw(), vpMatrix::computeCovarianceMatrix(), vpMatrix::computeHLM(), vpServo::computeInteractionMatrix(), vpMbTracker::computeJTR(), vpMatrix::cond(), vpMatrix::csvPrint(), vpMatrix::getCol(), vpImageSimulator::getImage(), vpMatrix::getRow(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::init(), vpCameraParameters::initFromCalibrationMatrix(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByQRLapack(), vpMatrix::juxtaposeMatrices(), vpMatrix::kernel(), vpMatrix::kron(), vpMatrix::maplePrint(), vpRowVector::operator*(), vpRotationMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpForceTwistMatrix::operator*(), vpMatrix::operator*(), vpRowVector::operator+(), vpMatrix::operator+=(), vpRowVector::operator-(), vpMatrix::operator-=(), vpSubRowVector::operator=(), vpSubColVector::operator=(), vpSubMatrix::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpRotationMatrix::operator=(), vpHomography::operator=(), vpPose::poseDementhonPlan(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpIoTools::readConfigVar(), vpRowVector::reshape(), vpColVector::reshape(), vpMatrix::row(), vpMatrix::saveMatrix(), vpMatrix::saveMatrixYAML(), vpServo::secondaryTask(), vpRowVector::size(), vpMatrix::stackMatrices(), vpMatrix::sub2Matrices(), and vpMatrix::svd().

double vpMatrix::getMaxValue ( ) const

inherited

Examples:: servoMomentImage.cpp.

Definition at line 4238 of file vpMatrix.cpp.

References vpMatrix::data, and vpMatrix::dsize.

double vpMatrix::getMinValue ( ) const

inherited

Examples:: servoMomentImage.cpp.

Definition at line 4224 of file vpMatrix.cpp.

References vpMatrix::data, and vpMatrix::dsize.

vpRowVector vpMatrix::getRow ( const unsigned int i ) const

inherited

Extract a row vector from a matrix.

Warning: All the indexes start from 0 in this function.

Parameters

i	: Index of the row to extract. If i=0, the first row is extracted.

Returns: The extracted row vector.

The following example shows how to use this function:

#include <visp/vpMatrix.h>
#include <visp/vpRowVector.h>
int main()
{
  vpMatrix A(4,4);
  for(unsigned int i=0; i < A.getRows(); i++)
    for(unsigned int j=0; j < A.getCols(); j++)
      A[i][j] = i*A.getCols()+j;
  A.print(std::cout, 4);
  vpRowVector rv = A.getRow(1);
  std::cout << "Row vector: \n" << rv << std::endl;
}  

It produces the following output:

[4,4]=
1  2  3
5  6  7
9 10 11
13 14 15
Row vector:
5  6  7

Definition at line 2510 of file vpMatrix.cpp.

References vpException::dimensionError, vpMatrix::getCols(), and vpMatrix::getRows().

Referenced by vpMatrix::kernel(), and vpMatrix::pseudoInverse().

vpRowVector vpMatrix::getRow	(	const unsigned int	i,
		const unsigned int	j_begin,
		const unsigned int	row_size
	)		const

inherited

Extract a row vector from a matrix.

Warning: All the indexes start from 0 in this function.

Parameters

i	: Index of the row to extract. If i=0, the first row is extracted.
j_begin	: Index of the column that gives the location of the first element of the row vector to extract.
row_size	: Size of the row vector to extract.

Returns: The extracted row vector.

The following example shows how to use this function:

#include <visp/vpMatrix.h>
#include <visp/vpRowVector.h>
int main()
{
  vpMatrix A(4,4);
  for(unsigned int i=0; i < A.getRows(); i++)
    for(unsigned int j=0; j < A.getCols(); j++)
      A[i][j] = i*A.getCols()+j;
  A.print(std::cout, 4);
  vpRowVector rv = A.getRow(1, 1, 3);
  std::cout << "Row vector: \n" << rv << std::endl;
}  

It produces the following output:

[4,4]=
1  2  3
5  6  7
9 10 11
13 14 15
Row vector:
6  7

Definition at line 2559 of file vpMatrix.cpp.

References vpException::dimensionError, vpMatrix::getCols(), and vpMatrix::getRows().

unsigned int vpMatrix::getRows ( ) const

inlineinherited

Return the number of rows of the matrix.

Examples:: testMatrixInverse.cpp, and testSvd.cpp.

Definition at line 161 of file vpMatrix.h.

Referenced by vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpLine::changeFrame(), vpSubColVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpMatrix::column(), vpServo::computeControlLaw(), vpMatrix::computeCovarianceMatrix(), vpMbTracker::computeCovarianceMatrix(), vpServo::computeError(), vpMatrix::computeHLM(), vpServo::computeInteractionMatrix(), vpMbTracker::computeJTR(), vpPtu46::computeMGD(), vpPose::computeResidual(), vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMatrix::cppPrint(), vpMatrix::createDiagonalMatrix(), vpColVector::crossProd(), vpMatrix::csvPrint(), vpDot2::defineDots(), vpMatrix::diag(), vpProjectionDisplay::display(), vpColVector::dotProd(), vpGenericFeature::error(), vpImageFilter::filter(), vpPtu46::get_eJe(), vpBiclops::get_eJe(), vpPtu46::get_fJe(), vpBiclops::get_fJe(), vpBiclops::get_fMe(), vpGenericFeature::get_s(), vpMatrix::getCol(), vpBasicFeature::getDimension(), vpImageSimulator::getImage(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), vpMatrix::getRow(), vpSubColVector::init(), vpSubMatrix::init(), vpMatrix::init(), vpCameraParameters::initFromCalibrationMatrix(), vpMatrix::insert(), vpFeatureLuminance::interaction(), vpGenericFeature::interaction(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByLU(), vpMatrix::inverseByQRLapack(), vpColVector::invSort(), vpMatrix::juxtaposeMatrices(), vpMatrix::kernel(), vpScale::KernelDensity(), vpScale::KernelDensityGradient(), vpMatrix::kron(), vpMatrix::maplePrint(), vpMatrix::matlabPrint(), vpColVector::mean(), vpScale::MeanShift(), vpColVector::median(), vpRobust::MEstimator(), vpMatrix::multMatrixVector(), vpRowVector::operator*(), vpRotationMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpForceTwistMatrix::operator*(), vpMatrix::operator*(), vpColVector::operator+(), vpMatrix::operator+=(), vpColVector::operator-(), vpMatrix::operator-=(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpColVector::operator=(), vpRotationMatrix::operator=(), vpRGBa::operator=(), vpHomography::operator=(), vpPlot::plot(), vpPose::poseDementhonPlan(), vpPose::poseVirtualVSrobust(), vpKalmanFilter::prediction(), vpMatrix::print(), vpLine::projection(), vpMatrix::pseudoInverse(), vpIoTools::readConfigVar(), vpRowVector::reshape(), vpColVector::reshape(), vpMatrix::saveMatrix(), vpMatrix::saveMatrixYAML(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpMbTracker::setEstimatedDoF(), vpGenericFeature::setInteractionMatrix(), vpSimulatorAfma6::setJointLimit(), vpSimulatorViper850::setJointLimit(), vpRobotBiclopsController::setPosition(), vpRobotAfma4::setPosition(), vpRobotBiclopsController::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpLine::setWorldCoordinates(), vpRobust::simultMEstimator(), vpColVector::size(), vpColVector::skew(), vpColVector::sort(), vpColVector::stack(), vpMatrix::stackMatrices(), vpMatrix::sub2Matrices(), vpMatrix::svd(), and vpColVector::vpColVector().

vpTranslationVector vpHomogeneousMatrix::getTranslationVector ( )

inline

Return the translation vector from the homogeneous transformation matrix.

Definition at line 153 of file vpHomogeneousMatrix.h.

double vpMatrix::infinityNorm ( ) const

inherited

Compute and return the infinity norm ${||x||}_{\infty} = max\left(\sum_{j=0}^{n}{\mid x_{ij} \mid}\right)$ with $i \in \{0, ..., m\}$ where $(m,n)$ is the matrix size.

Returns: The infinity norm if the matrix is initialized, 0 otherwise.

See also: euclideanNorm()

Definition at line 3192 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::rowNum, and vpMatrix::rowPtrs.

void vpHomogeneousMatrix::init ( )

Basic initialisation (identity).

Initialize a 4x4 momogeneous matrix as identity.

Examples:: HelloWorldOgreAdvanced.cpp.

Definition at line 66 of file vpHomogeneousMatrix.cpp.

References vpMatrix::resize(), and vpERROR_TRACE.

Referenced by buildFrom(), operator=(), setIdentity(), and vpHomogeneousMatrix().

void vpMatrix::init	(	const vpMatrix &	M,
		unsigned int	r,
		unsigned int	c,
		unsigned int	nrows,
		unsigned int	ncols
	)

inherited

Initialize the matrix from a part of an input matrix M.

Parameters

M	: Input matrix used for initialization.
r	: row index in matrix M.
c	: column index in matrix M.
nrows	: Number of rows of the matrix that should be initialized.
ncols	: Number of columns of the matrix that should be initialized.

The sub-matrix starting from M[r][c] element and ending on M[r+nrows-1][c+ncols-1] element is used to initialize the matrix.

The following code shows how to use this function:

#include <visp/vpMatrix.h>
int main()
{
  vpMatrix M(4,5);
  int val = 0;
  for(size_t i=0; i<M.getRows(); i++) {
    for(size_t j=0; j<M.getCols(); j++) {
      M[i][j] = val++;
    }
  }
  M.print (std::cout, 4, "M ");
  vpMatrix N;
  N.init(M, 0, 1, 2, 3);
  N.print (std::cout, 4, "N ");
}

It produces the following output:

M [4,5]=
1  2  3  4
6  7  8  9
11 12 13 14
16 17 18 19
N [2,3]=
2 3
7 8

Definition at line 331 of file vpMatrix.cpp.

References vpException::dimensionError, vpMatrix::getCols(), vpMatrix::getRows(), vpMatrix::resize(), and vpMatrix::rowPtrs.

void vpHomogeneousMatrix::insert ( const vpRotationMatrix & R )

Insert the rotational component of the homogeneous matrix.

Examples:: testDisplacement.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 532 of file vpHomogeneousMatrix.cpp.

Referenced by buildFrom(), vpCalibration::calibrationTsai(), vpExponentialMap::direct(), insert(), inverse(), operator*(), vpPose::poseLowe(), and vpHomogeneousMatrix().

void vpHomogeneousMatrix::insert ( const vpThetaUVector & tu )

Insert the rotational component of the homogeneous matrix from a theta u rotation vector.

Definition at line 548 of file vpHomogeneousMatrix.cpp.

References insert().

void vpHomogeneousMatrix::insert ( const vpTranslationVector & T )

Insert the translational component in a homogeneous matrix.

Definition at line 558 of file vpHomogeneousMatrix.cpp.

void vpHomogeneousMatrix::insert ( const vpQuaternionVector & q )

Insert the rotational component of the homogeneous matrix from a quaternion rotation vector.

Definition at line 572 of file vpHomogeneousMatrix.cpp.

References insert().

void vpMatrix::insert	(	const vpMatrix &	A,
		const unsigned int	r,
		const unsigned int	c
	)

inherited

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

Warning: Throw vpMatrixException::incorrectMatrixSizeError if the dimensions of the matrices do not allow the operation.

Parameters

A	: The matrix 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 3291 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, and vpMatrix::rowNum.

Referenced by vpNurbs::curveKnotIns(), vpMatrix::insert(), vpPioneerPan::set_mMp(), and vpPioneerPan::set_pMe().

vpMatrix vpMatrix::insert	(	const vpMatrix &	A,
		const vpMatrix &	B,
		const unsigned int	r,
		const unsigned int	c
	)

staticinherited

Insert matrix B in matrix A at the given position.

Parameters

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

Returns: Matrix with B insert in A.

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

Definition at line 2666 of file vpMatrix.cpp.

References vpMatrix::insert(), and vpCERROR.

void insert	(	const vpMatrix &	A,
		const vpMatrix &	B,
		vpMatrix &	C,
		const unsigned int	r,
		const unsigned int	c
	)

staticinherited

Insert matrix B in matrix A at the given position.

Parameters

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

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

Definition at line 2697 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::resize(), vpCERROR, and vpERROR_TRACE.

vpHomogeneousMatrix vpHomogeneousMatrix::inverse ( ) const

Invert the homogeneous matrix

Returns: $\left[\begin{array}{cc} {\bf R} & {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]^{-1} = \left[\begin{array}{cc} {\bf R}^T & -{\bf R}^T {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]$

Examples:: calibrateTsai.cpp, servoAfma62DhalfCamVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 591 of file vpHomogeneousMatrix.cpp.

References extract(), insert(), and vpRotationMatrix::t().

Referenced by vpKeyPoint::compute3D(), vpSimulatorViper850::compute_fMi(), vpPtu46::computeMGD(), vpBiclops::computeMGD(), vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpProjectionDisplay::displayCamera(), vpPtu46::get_cMe(), vpViper::get_cMe(), vpAfma4::get_cMe(), vpAfma6::get_cMe(), vpRobotWireFrameSimulator::get_cMo(), vpAfma4::get_cVf(), vpViper::get_eJe(), vpViper::get_fJe(), vpBiclops::get_fMc(), vpRobotBiclops::getDisplacement(), vpRobotAfma6::getDisplacement(), vpSimulator::getExternalCameraPosition(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpViper::getInverseKinematics(), vpAfma6::getInverseKinematics(), vpRobotAfma4::getVelocity(), vpRobotAfma6::getVelocity(), vpRobotViper850::getVelocity(), vpRobotViper650::getVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), inverse(), vpSimulator::moveInternalCamera(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpWireFrameSimulator::projectCameraTrajectory(), vpPioneerPan::set_cMe(), vpBiclops::set_cMe(), vpWireFrameSimulator::setCameraPositionRelObj(), vpWireFrameSimulator::setCameraPositionRelWorld(), vpWireFrameSimulator::setExternalCameraPosition(), vpMbKltTracker::setPose(), vpSimulatorAfma6::setPosition(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpKinect::vpKinect().

void vpHomogeneousMatrix::inverse ( vpHomogeneousMatrix & M ) const

Invert the homogeneous matrix.

Parameters

M	: The inverted homogenous matrix: $\left[\begin{array}{cc} {\bf R} & {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]^{-1} = \left[\begin{array}{cc} {\bf R}^T & -{\bf R}^T {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]$

Definition at line 641 of file vpHomogeneousMatrix.cpp.

References inverse().

vpMatrix vpMatrix::inverseByCholesky ( ) const

inherited

Compute the inverse of a n-by-n matrix using the Cholesky decomposition. The matrix must be real and symmetric. Only available if lapack is installed.

Returns: The inverse matrix.

Here an example:

#include <visp/vpMatrix.h>
int main()
{
  vpMatrix A(4,4);
  // Symmetric matrix
  A[0][0] = 1/1.; A[0][1] = 1/5.; A[0][2] = 1/6.; A[0][3] = 1/7.;
  A[1][0] = 1/5.; A[1][1] = 1/3.; A[1][2] = 1/3.; A[1][3] = 1/5.;
  A[2][0] = 1/6.; A[2][1] = 1/3.; A[2][2] = 1/2.; A[2][3] = 1/6.;
  A[3][0] = 1/7.; A[3][1] = 1/5.; A[3][2] = 1/6.; A[3][3] = 1/7.;
  // Compute the inverse
  vpMatrix A_1; // A^-1
  A_1 = A.inverseByCholesky();
  std::cout << "Inverse by Cholesky: \n" << A_1 << std::endl;
  std::cout << "A*A^-1: \n" << A * A_1 << std::endl;
}

See also: pseudoInverse()

Definition at line 122 of file vpMatrix_cholesky.cpp.

References vpMatrix::colNum, vpMatrix::inverseByCholeskyLapack(), vpMatrixException::matrixError, vpMatrix::rowNum, and vpERROR_TRACE.

vpMatrix vpMatrix::inverseByCholeskyLapack ( ) const

inherited

Definition at line 62 of file vpMatrix_cholesky.cpp.

References vpException::badValue, vpMatrix::data, vpMatrix::getCols(), and vpMatrix::getRows().

Referenced by vpMatrix::inverseByCholesky().

vpMatrix vpMatrix::inverseByLU ( ) const

inherited

Compute the inverse of a n-by-n matrix using the LU decomposition.

Returns: The inverse matrix.

Here an example:

#include <visp/vpMatrix.h>
int main()
{
  vpMatrix A(4,4);
  A[0][0] = 1/1.; A[0][1] = 1/2.; A[0][2] = 1/3.; A[0][3] = 1/4.;
  A[1][0] = 1/5.; A[1][1] = 1/3.; A[1][2] = 1/3.; A[1][3] = 1/5.;
  A[2][0] = 1/6.; A[2][1] = 1/4.; A[2][2] = 1/2.; A[2][3] = 1/6.;
  A[3][0] = 1/7.; A[3][1] = 1/5.; A[3][2] = 1/6.; A[3][3] = 1/7.;
  // Compute the inverse
  vpMatrix A_1; // A^-1
  A_1 = A.inverseByLU();
  std::cout << "Inverse by LU: \n" << A_1 << std::endl;
  std::cout << "A*A^-1: \n" << A * A_1 << std::endl;
}

See also: pseudoInverse()

Examples:: photometricVisualServoing.cpp.

Definition at line 236 of file vpMatrix_lu.cpp.

References vpMatrix::colNum, vpMatrix::getRows(), vpMatrixException::matrixError, vpMatrix::rowNum, and vpERROR_TRACE.

Referenced by vpMatrix::expm(), vpKalmanFilter::filtering(), vpTemplateTrackerWarpHomographySL3::findWarp(), vpTemplateTrackerWarpAffine::getParamInverse(), vpTemplateTrackerTriangle::init(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTracker::setHDes(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), and vpTemplateTrackerSSDForwardAdditional::trackNoPyr().

vpMatrix vpMatrix::inverseByQR ( ) const

inherited

Compute the inverse of a n-by-n matrix using the QR decomposition. Only available if lapack is installed.

Returns: The inverse matrix.

Here an example:

#include <visp/vpMatrix.h>
int main()
{
  vpMatrix A(4,4);
  A[0][0] = 1/1.; A[0][1] = 1/2.; A[0][2] = 1/3.; A[0][3] = 1/4.;
  A[1][0] = 1/5.; A[1][1] = 1/3.; A[1][2] = 1/3.; A[1][3] = 1/5.;
  A[2][0] = 1/6.; A[2][1] = 1/4.; A[2][2] = 1/2.; A[2][3] = 1/6.;
  A[3][0] = 1/7.; A[3][1] = 1/5.; A[3][2] = 1/6.; A[3][3] = 1/7.;
  // Compute the inverse
  vpMatrix A_1; // A^-1
  A_1 = A.inverseByQR();
  std::cout << "Inverse by QR: \n" << A_1 << std::endl;
  std::cout << "A*A^-1: \n" << A * A_1 << std::endl;
}

See also: pseudoInverse()

Definition at line 228 of file vpMatrix_qr.cpp.

References vpMatrix::colNum, vpMatrix::inverseByQRLapack(), vpMatrixException::matrixError, vpMatrix::rowNum, and vpERROR_TRACE.

vpMatrix vpMatrix::inverseByQRLapack ( ) const

inherited

Definition at line 76 of file vpMatrix_qr.cpp.

References vpException::badValue, vpMatrix::data, vpMatrix::getCols(), and vpMatrix::getRows().

Referenced by vpMatrix::inverseByQR().

bool vpHomogeneousMatrix::isAnHomogeneousMatrix ( ) const

Test if the 3x3 rotational part of the homogeneous matrix is really a rotation matrix.

Definition at line 473 of file vpHomogeneousMatrix.cpp.

References extract(), and vpRotationMatrix::isARotationMatrix().

vpMatrix vpMatrix::juxtaposeMatrices	(	const vpMatrix &	A,
		const vpMatrix &	B
	)

staticinherited

Juxtapose to matrices C = [ A B ].

$C = \left( \begin{array}{cc} A & B \end{array}\right)$

Parameters

A	: Left matrix.
B	: Right matrix.

Returns: Juxtaposed matrix C = [ A B ]

Warning: A and B must have the same number of column

Definition at line 2740 of file vpMatrix.cpp.

References vpCERROR.

void juxtaposeMatrices	(	const vpMatrix &	A,
		const vpMatrix &	B,
		vpMatrix &	C
	)

staticinherited

Juxtapose to matrices C = [ A B ].

$C = \left( \begin{array}{cc} A & B \end{array}\right)$

Parameters

A	: Left matrix.
B	: Right matrix.
C	: Juxtaposed matrix C = [ A B ]

Warning: A and B must have the same number of column

Definition at line 2769 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::resize(), vpCERROR, and vpERROR_TRACE.

unsigned int vpMatrix::kernel	(	vpMatrix &	kerA,
		double	svThreshold = `1e-6`
	)

inherited

Function to compute the null space (the kernel) of the interaction matrix A which is not full rank. The null space ( the kernel ) of a matrix A is defined as Null(A) = Ker(M) ={KerA : A*KerA =0}.

Parameters

kerA	: The matrix to contain the null space (kernel) of A (A*KerA.t()=0)
svThreshold	: Specify the used threshold in the svd(...) function (a function to compute the singular value decomposition)

Returns: the rank of the matrix.

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp.

Definition at line 3569 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRow(), vpMatrix::getRows(), vpMatrix::resize(), vpMatrix::sumSquare(), and vpMatrix::svd().

void vpMatrix::kill ( )

inherited

Destruction of the matrix (Memory de-allocation)

Definition at line 355 of file vpMatrix.cpp.

References vpMatrix::data, and vpMatrix::rowPtrs.

Referenced by vpMatrix::~vpMatrix().

void vpMatrix::kron	(	const vpMatrix &	m1,
		const vpMatrix &	m2,
		vpMatrix &	out
	)

staticinherited

Compute Kronecker product matrix.

Parameters

m1	: vpMatrix;
m2	: vpMatrix;
out	: The kronecker product : $m1 \otimes m2$

Definition at line 1563 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::rowNum, and vpERROR_TRACE.

Referenced by vpMatrix::kron().

vpMatrix vpMatrix::kron	(	const vpMatrix &	m1,
		const vpMatrix &	m2
	)

staticinherited

Compute Kronecker product matrix.

Parameters

m1	: vpMatrix;
m2	: vpMatrix;

Returns: The kronecker product : $m1 \otimes m2$

Definition at line 1607 of file vpMatrix.cpp.

References vpMatrix::getCols(), and vpMatrix::getRows().

void vpMatrix::kron	(	const vpMatrix &	m,
		vpMatrix &	out
	)

inherited

Compute Kronecker product matrix.

Parameters

m	: vpMatrix.
out	: If m1.kron(m2) out contains the kronecker product's result : $m1 \otimes m2$ .

Definition at line 1597 of file vpMatrix.cpp.

References vpMatrix::kron().

vpMatrix vpMatrix::kron ( const vpMatrix & m )

inherited

Compute Kronecker product matrix.

Parameters

m	: vpMatrix;

Returns: m1.kron(m2) The kronecker product : $m1 \otimes m2$

Definition at line 1638 of file vpMatrix.cpp.

References vpMatrix::kron().

void vpHomogeneousMatrix::load ( std::ifstream & f )

Read an homogeneous matrix from an input file stream. The homogeneous matrix is considered as a 4 by 4 matrix.

Parameters

f	: Input file stream.

The code below shows how to get an homogenous matrix from a file.

vpHomogeneousMatrix M;
std::ifstream f("homogeneous.dat");
M.load(f);

See also: save()

Examples:: servoAfma6Points2DCamVelocityEyeToHand.cpp.

Definition at line 703 of file vpHomogeneousMatrix.cpp.

References vpException::ioError, and vpERROR_TRACE.

static bool vpMatrix::loadMatrix	(	std::string	filename,
		vpMatrix &	M,
		const bool	binary = `false`,
		char *	Header = `NULL`
	)

inlinestaticinherited

Load a matrix from a file.

Parameters

filename	: absolute file name
M	: matrix 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 no problem appends.

Definition at line 264 of file vpMatrix.h.

Referenced by vpDot2::defineDots().

bool vpMatrix::loadMatrix	(	const char *	filename,
		vpMatrix &	M,
		const bool	binary = `false`,
		char *	header = `NULL`
	)

staticinherited

Load a matrix from a file.

Parameters

filename	: Absolute file name.
M	: Matrix to be loaded.
binary	: If true the matrix is loaded from a binary file, else from a text file.
header	: header of the file loaded in this parameter.

Returns: Returns true if no problem happened.

Definition at line 3963 of file vpMatrix.cpp.

References vpException::badValue, and vpMatrix::resize().

static bool vpMatrix::loadMatrixYAML	(	std::string	filename,
		vpMatrix &	M,
		char *	header = `NULL`
	)

inlinestaticinherited

Load a matrix from a YAML-formatted file.

Parameters

filename	: absolute file name.
M	: matrix to be loaded from the file.
header	: Header of the file is loaded in this parameter.

Returns: Returns true if no problem appends.

Definition at line 317 of file vpMatrix.h.

bool vpMatrix::loadMatrixYAML	(	const char *	filename,
		vpMatrix &	M,
		char *	header = `NULL`
	)

staticinherited

Load a matrix from a YAML-formatted file.

Parameters

filename	: absolute file name.
M	: matrix to be loaded from the file.
header	: header of the file is loaded in this parameter.

Returns: Returns true on success.

See also: saveMatrixYAML()

Definition at line 4060 of file vpMatrix.cpp.

References vpMatrix::resize().

std::ostream & vpMatrix::maplePrint ( std::ostream & os ) const

inherited

Print using MAPLE matrix input format.

Print using the following way so that this output can be directly copied into MAPLE: ([ [0.939846, 0.0300754, 0.340272, ], [0.0300788, 0.984961, -0.170136, ], [-0.340272, 0.170136, 0.924807, ], ])

Definition at line 3061 of file vpMatrix.cpp.

References vpMatrix::getCols(), and vpMatrix::getRows().

std::ostream & vpMatrix::matlabPrint ( std::ostream & os ) const

inherited

Print using matlab syntax, to be put in matlab later.

Print using the following form: [ a,b,c; d,e,f; g,h,i]

Definition at line 3032 of file vpMatrix.cpp.

References vpMatrix::getRows().

void vpMatrix::mult2Matrices	(	const vpMatrix &	A,
		const vpMatrix &	B,
		vpMatrix &	C
	)

staticinherited

Operation C = A * B.

The result is placed in the third parameter C and not returned. A new matrix won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).

See also: operator*()

Definition at line 480 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrixException::incorrectMatrixSizeError, vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

Referenced by vpMatrix::operator*().

void vpMatrix::multMatrixVector	(	const vpMatrix &	A,
		const vpColVector &	b,
		vpColVector &	c
	)

staticinherited

Operation c = A * b (c and b are vectors).

The result is placed in the second parameter C and not returned. A new matrix won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).

See also: operator*(const vpColVector &b) const

Definition at line 931 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpColVector::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

Referenced by vpRotationMatrix::operator*(), and vpMatrix::operator*().

void vpMatrix::negateMatrix	(	const vpMatrix &	A,
		vpMatrix &	C
	)

staticinherited

Operation C = -A.

The result is placed in the second parameter C and not returned. A new matrix won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).

See also: operator-(void)

Definition at line 818 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

Referenced by vpMatrix::operator-().

vpHomogeneousMatrix vpHomogeneousMatrix::operator* ( const vpHomogeneousMatrix & M ) const

Multiply two homogeneous matrices: aMb = aMc*cMb.

Allow homogeneous matrix multiplication.

#include <visp/vpHomogeneousMatrix.h>
int main()
{
  vpHomogeneousMatrix aMb, bMc;
  // Initialize aMb and bMc...
  // Compute aMc * bMc
  vpHomogeneousMatrix aMc = aMb * bMc;  
}

Definition at line 425 of file vpHomogeneousMatrix.cpp.

References extract(), and insert().

vpColVector vpHomogeneousMatrix::operator* ( const vpColVector & v ) const

Multiply by a vector ! size 4 !!!

Definition at line 450 of file vpHomogeneousMatrix.cpp.

References vpMatrix::rowNum, and vpMatrix::rowPtrs.

vpMatrix vpMatrix::operator* ( const vpMatrix & B ) const

inherited

Operation C = A * B (A is unchanged).

See also: mult2Matrices() to avoid matrix allocation for each use.

Definition at line 523 of file vpMatrix.cpp.

References vpMatrix::mult2Matrices().

vpMatrix vpMatrix::operator* ( const vpHomography & H ) const

inherited

Allows to multiply a matrix by an homography. Operation M = K * H (H is unchanged).

Definition at line 536 of file vpMatrix.cpp.

References vpMatrix::colNum, vpException::dimensionError, and vpMatrix::rowNum.

vpTranslationVector vpMatrix::operator* ( const vpTranslationVector & b ) const

inherited

Operation c = A * b (A is unchanged, c and b are translation vectors).

Definition at line 975 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrixException::incorrectMatrixSizeError, vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

vpMatrix vpMatrix::operator* ( const double x ) const

inherited

Cij = Aij * x (A is unchanged)

Definition at line 1050 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

vpMatrix & vpMatrix::operator*= ( const double x )

inherited

Multiply all the element of the matrix by x : Aij = Aij * x.

Definition at line 1178 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::rowNum, and vpMatrix::rowPtrs.

vpMatrix vpMatrix::operator+ ( const vpMatrix & B ) const

inherited

Operation C = A + B (A is unchanged).

See also: add2Matrices() to avoid matrix allocation for each use.

Definition at line 653 of file vpMatrix.cpp.

References vpMatrix::add2Matrices().

vpMatrix & vpMatrix::operator+= ( const vpMatrix & B )

inherited

Operation A = A + B.

Definition at line 733 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

vpMatrix & vpMatrix::operator+= ( const double x )

inherited

Add x to all the element of the matrix : Aij = Aij + x.

Definition at line 1130 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::rowNum, and vpMatrix::rowPtrs.

vpMatrix vpMatrix::operator- ( const vpMatrix & B ) const

inherited

Operation C = A - B (A is unchanged).

See also: sub2Matrices() to avoid matrix allocation for each use.

Definition at line 724 of file vpMatrix.cpp.

References vpMatrix::sub2Matrices().

vpMatrix vpMatrix::operator- ( void ) const

inherited

Operation C = -A (A is unchanged).

See also: negateMatrix() to avoid matrix allocation for each use.

Definition at line 860 of file vpMatrix.cpp.

References vpMatrix::negateMatrix().

vpMatrix & vpMatrix::operator-= ( const vpMatrix & B )

inherited

Operation A = A - B.

Definition at line 773 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

vpMatrix & vpMatrix::operator-= ( const double x )

inherited

Substract x to all the element of the matrix : Aij = Aij - x.

Definition at line 1154 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::rowNum, and vpMatrix::rowPtrs.

vpMatrix vpMatrix::operator/ ( const double x ) const

inherited

Cij = Aij / x (A is unchanged)

Definition at line 1085 of file vpMatrix.cpp.

References vpMatrix::colNum, vpException::divideByZeroError, vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, vpCERROR, and vpERROR_TRACE.

vpMatrix & vpMatrix::operator/= ( double x )

inherited

Divide all the element of the matrix by x : Aij = Aij / x.

Definition at line 1193 of file vpMatrix.cpp.

References vpMatrix::colNum, vpException::divideByZeroError, vpMatrix::rowNum, and vpMatrix::rowPtrs.

vpMatrix & vpMatrix::operator<< ( double * x )

inherited

Assigment from an array of double.

Definition at line 455 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::rowNum, and vpMatrix::rowPtrs.

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

Copy operator from vpHomogeneousMatrix.

Return the rotation matrix from the homogeneous transformation matrix.

Affectation of two homogeneous matrices.

Parameters

M	: *this = M

Definition at line 392 of file vpHomogeneousMatrix.cpp.

References init(), and vpMatrix::rowPtrs.

double* vpMatrix::operator[] ( unsigned int i )

inlineinherited

write elements Aij (usage : A[i][j] = x )

Definition at line 220 of file vpMatrix.h.

double* vpMatrix::operator[] ( unsigned int i ) const

inlineinherited

read elements Aij (usage : x = A[i][j] )

Definition at line 222 of file vpMatrix.h.

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

inherited

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

Parameters

s	Stream used for the printing.
length	The suggested width of each matrix element. The actual width grows in order to accomodate the whole integral part, and shrinks if the whole extent is not needed for all the numbers.
intro	The introduction which is printed before the matrix. Can be set to zero (or omitted), in which case the introduction is not printed.

Returns: Returns the common total width for all matrix elements

See also: std::ostream &operator <<(ostream &s,const vpMatrix &m)

Examples:: servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, testMatrix.cpp, and testTwistMatrix.cpp.

Definition at line 2937 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRows(), and vpMath::maximum().

void vpHomogeneousMatrix::print ( )

Print the matrix as a vector [T thetaU].

Examples:: servoAfma6Points2DCamVelocityEyeToHand.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, and servoSimuViper850FourPoints2DCamVelocity.cpp.

Definition at line 722 of file vpHomogeneousMatrix.cpp.

References vpColVector::t().

void vpMatrix::printSize ( )

inlineinherited

Definition at line 190 of file vpMatrix.h.

vpMatrix vpMatrix::pseudoInverse ( double svThreshold = 1e-6 ) const

inherited

Compute the pseudo inverse of the matrix using the SVD.

Compute and return the pseudo inverse of a n-by-m matrix : $ A^+ $ .

Parameters

svThreshold : Threshold used to test the singular values.

Returns: Pseudo inverse of the matrix.

Here an example to compute the inverse of a n-by-n matrix. If the matrix is n-by-n it is also possible to use inverseByLU().

#include <visp/vpMatrix.h>
int main()
{
vpMatrix A(4,4);
A[0][0] = 1/1.; A[0][1] = 1/2.; A[0][2] = 1/3.; A[0][3] = 1/4.;
A[1][0] = 1/5.; A[1][1] = 1/3.; A[1][2] = 1/3.; A[1][3] = 1/5.;
A[2][0] = 1/6.; A[2][1] = 1/4.; A[2][2] = 1/2.; A[2][3] = 1/6.;
A[3][0] = 1/7.; A[3][1] = 1/5.; A[3][2] = 1/6.; A[3][3] = 1/7.;
// Compute the inverse
vpMatrix A_1; // A^-1
A_1 = A.pseudoInverse();
std::cout << "Inverse by pseudo inverse: \n" << A_1 << std::endl;
std::cout << "A*A^-1: \n" << A * A_1 << std::endl;
}

See also: inverseByLU()

Definition at line 1932 of file vpMatrix.cpp.

Referenced by vpCalibration::calibrationTsai(), vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpServo::computeControlLaw(), vpMatrix::computeCovarianceMatrix(), vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpNurbs::globalCurveApprox(), vpNurbs::globalCurveInterp(), vpMeEllipse::initTracking(), vpHomography::inverse(), vpMeLine::leastSquare(), vpPose::poseDementhonNonPlan(), vpPose::poseFromRectangle(), vpPose::poseVirtualVS(), vpMatrix::pseudoInverse(), vpHomography::robust(), and vpMatrix::solveBySVD().

unsigned int vpMatrix::pseudoInverse	(	vpMatrix &	Ap,
		double	svThreshold = `1e-6`
	)		const

inherited

Compute the pseudo inverse of the matrix $Ap = A^+$ .

Compute the pseudo inverse of the matrix using the SVD. return the rank

Parameters

Ap	: The pseudo inverse .
svThreshold	: Threshold used to test the singular values.

Returns: Return the rank of the matrix A

Definition at line 1892 of file vpMatrix.cpp.

References vpMatrix::pseudoInverse().

unsigned int vpMatrix::pseudoInverse	(	vpMatrix &	Ap,
		vpColVector &	sv,
		double	svThreshold = `1e-6`
	)		const

inherited

Compute the pseudo inverse of the matrix $Ap = A^+$ .

Compute the pseudo inverse of the matrix using the SVD. return the rank and the singular value

Parameters

Ap	: The pseudo inverse .
sv	: Singular values.
svThreshold	: Threshold used to test the singular values.

Returns: Return the rank of the matrix A

Definition at line 1948 of file vpMatrix.cpp.

References vpMatrix::pseudoInverse().

unsigned int vpMatrix::pseudoInverse	(	vpMatrix &	Ap,
		vpColVector &	sv,
		double	svThreshold,
		vpMatrix &	imA,
		vpMatrix &	imAt
	)		const

inherited

Compute the pseudo inverse of the matrix $Ap = A^+$ along with Ker A, Ker $A^T$ , Im A and Im $A^T$ .

Compute the pseudo inverse of the matrix using the SVD. return the rank and the singular value, image

Pseudo inverse, kernel and image are computed using the SVD decomposition.

A is an m x n matrix, if m >=n the svd works on A other wise it works on $A^T$ .

Therefore if m>=n we have

${\bf A}_{m\times n} = {\bf U}_{m\times m} {\bf S}_{m\times n} {\bf V^\top}_{n\times n}$

${\bf A}_{m\times n} = \left[\begin{array}{ccc}\mbox{Im} {\bf A} & | & \mbox{Ker} {\bf A^\top} \end{array} \right] {\bf S} \left[ \begin{array}{c} (\mbox{Im} {\bf A^\top})^\top \\ (\mbox{Ker}{\bf A})^\top \end{array}\right]$

where Im(A) is an m x r matrix (r is the rank of A) and Im(A^T) is an r x n matrix

Parameters

Ap	: The pseudo inverse .
sv	: Singular values.
svThreshold	: Threshold used to test the singular values.
imAt	: Image A^T
imA	Image A

Returns: Return the rank of the matrix A

Definition at line 1987 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRows(), vpColVector::resize(), vpMatrix::resize(), vpMatrix::svd(), and vpMatrix::t().

unsigned int vpMatrix::pseudoInverse	(	vpMatrix &	Ap,
		vpColVector &	sv,
		double	svThreshold,
		vpMatrix &	imA,
		vpMatrix &	imAt,
		vpMatrix &	kerA
	)		const

inherited

Compute the pseudo inverse of the matrix $Ap = A^+$ along with Ker A, Ker $A^T$ , Im A and Im $A^T$ .

Compute the pseudo inverse of the matrix using the SVD. return the rank and the singular value, image, kernel.

Pseudo inverse, kernel and image are computed using the SVD decomposition.

A is an m x n matrix, if m >=n the svd works on A other wise it works on $A^T$ .

Therefore if m>=n we have

${\bf A}_{m\times n} = {\bf U}_{m\times m} {\bf S}_{m\times n} {\bf V^\top}_{n\times n}$

${\bf A}_{m\times n} = \left[\begin{array}{ccc}\mbox{Im} {\bf A} & | & \mbox{Ker} {\bf A^\top} \end{array} \right] {\bf S} \left[ \begin{array}{c} (\mbox{Im} {\bf A^\top})^\top \\ (\mbox{Ker}{\bf A})^\top \end{array}\right]$

where Im(A) is an m x r matrix (r is the rank of A) and Im(A^T) is an r x n matrix

Parameters

Ap	: The pseudo inverse .
sv	: Singular values.
svThreshold	: Threshold used to test the singular values.
imA	Image A
imAt	: Image A^T
kerA	: null space of A

Returns: Return the rank of the matrix A

Definition at line 2165 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRow(), vpMatrix::getRows(), vpColVector::resize(), vpMatrix::resize(), vpMatrix::sumSquare(), vpMatrix::svd(), and vpMatrix::t().

void vpMatrix::resize	(	const unsigned int	nrows,
		const unsigned int	ncols,
		const bool	flagNullify = `true`
	)

inherited

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

Parameters

nrows	: number of rows
ncols	: number of column
flagNullify	: if true, then the matrix is re-initialized to 0 after resize. If false, the initial values from the common part of the matrix (common part between old and new version of the matrix) are kept. Default value is true.

Returns: OK or MEMORY_FAULT if memory cannot be allocated

Examples:: testMatrix.cpp, testMatrixInverse.cpp, and testSvd.cpp.

Definition at line 199 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::data, vpMatrix::dsize, vpException::memoryAllocationError, vpMatrix::rowNum, vpMatrix::rowPtrs, vpMatrix::trsize, vpCDEBUG, vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by vpMatrix::AAt(), vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpMatrix::AtA(), vpServo::computeControlLaw(), vpMatrix::computeHLM(), vpMbTracker::computeJTR(), vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMatrix::createDiagonalMatrix(), vpMatrix::diag(), vpProjectionDisplay::display(), vpHomography::DLT(), vpMatrix::eigenValues(), vpMatrix::eye(), vpPtu46::get_eJe(), vpAfma4::get_eJe(), vpAfma6::get_eJe(), vpBiclops::get_eJe(), vpPtu46::get_fJe(), vpAfma4::get_fJe(), vpAfma6::get_fJe(), vpBiclops::get_fJe(), vpAfma4::get_fJe_inverse(), vpViper::get_fJw(), vpCameraParameters::get_K(), vpCameraParameters::get_K_inverse(), vpRotationMatrix::init(), vpProjectionDisplay::init(), vpVelocityTwistMatrix::init(), vpForceTwistMatrix::init(), vpKalmanFilter::init(), init(), vpMatrix::init(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpTemplateTracker::initTracking(), vpMatrix::insert(), vpFeatureEllipse::interaction(), vpFeatureVanishingPoint::interaction(), vpFeatureLuminance::interaction(), vpFeatureSegment::interaction(), vpGenericFeature::interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpMatrix::juxtaposeMatrices(), vpMatrix::kernel(), vpMatrix::loadMatrix(), vpMatrix::loadMatrixYAML(), vpMatrix::mult2Matrices(), vpMatrix::negateMatrix(), vpMatrix::operator*(), vpMatrix::operator/(), vpMatrix::operator=(), vpPose::poseDementhonPlan(), vpPose::poseVirtualVSrobust(), vpMatrix::pseudoInverse(), vpIoTools::readConfigVar(), vpRowVector::reshape(), vpColVector::reshape(), vpColVector::resize(), vpRowVector::resize(), vpServo::secondaryTask(), vpTemplateTrackerWarp::setNbParam(), vpColVector::skew(), vpMatrix::skew(), vpMatrix::stackMatrices(), vpMatrix::sub2Matrices(), vpMatrix::svd(), vpMatrix::t(), vpMatrix::transpose(), vpMatrix::vpMatrix(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(), vpTemplateTrackerSSDInverseCompositional::vpTemplateTrackerSSDInverseCompositional(), vpTemplateTrackerWarpAffine::vpTemplateTrackerWarpAffine(), vpTemplateTrackerWarpHomography::vpTemplateTrackerWarpHomography(), vpTemplateTrackerWarpHomographySL3::vpTemplateTrackerWarpHomographySL3(), vpTemplateTrackerWarpSRT::vpTemplateTrackerWarpSRT(), vpTemplateTrackerWarpTranslation::vpTemplateTrackerWarpTranslation(), and vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

vpRowVector vpMatrix::row ( const unsigned int i )

inherited

Deprecated:: This method is deprecated. You should use getRow().

Return the i-th row of the matrix.

Warning: notice row(1) is the 0th row.

Definition at line 2346 of file vpMatrix.cpp.

References vpMatrix::getCols().

void vpHomogeneousMatrix::save ( std::ofstream & f ) const

Write an homogeneous matrix in an output file stream.

Parameters

f	: Output file stream. The homogeneous matrix is saved as a 4 by 4 matrix.

The code below shows how to save an homogenous matrix in a file.

// Contruct an homogeneous matrix
vpTranslationVector t(1,2,3);
vpRxyzVector r(M_PI, 0, -M_PI/4.);
vpRotationMatrix R(r);
vpHomogeneousMatrix M(t, R);
// Save the content of the matrix in "homogeneous.dat"
std::ofstream f("homogeneous.dat");  
M.save(f);

See also: load()

Examples:: servoAfma6Points2DCamVelocityEyeToHand.cpp.

Definition at line 670 of file vpHomogeneousMatrix.cpp.

References vpException::ioError, and vpERROR_TRACE.

static bool vpMatrix::saveMatrix	(	std::string	filename,
		const vpMatrix &	M,
		const bool	binary = `false`,
		const char *	Header = `""`
	)

inlinestaticinherited

Save a matrix to a file.

Parameters

filename	: absolute file name
M	: matrix to be saved
binary	:If true the matrix is save 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 no problem appends.

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 285 of file vpMatrix.h.

Referenced by vpDot2::defineDots().

bool vpMatrix::saveMatrix	(	const char *	filename,
		const vpMatrix &	M,
		const bool	binary = `false`,
		const char *	header = `""`
	)

staticinherited

Save a matrix to a file.

Parameters

filename	: Absolute file name.
M	: Matrix 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 no problem happened.

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 3792 of file vpMatrix.cpp.

References vpMatrix::getCols(), and vpMatrix::getRows().

static bool vpMatrix::saveMatrixYAML	(	std::string	filename,
		const vpMatrix &	M,
		const char *	header = `""`
	)

inlinestaticinherited

Save a matrix in a YAML-formatted file.

Parameters

filename	: absolute file name.
M	: matrix 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.

Definition at line 303 of file vpMatrix.h.

bool vpMatrix::saveMatrixYAML	(	const char *	filename,
		const vpMatrix &	M,
		const char *	header = `""`
	)

staticinherited

Save a matrix in a YAML-formatted file.

Parameters

filename	: absolute file name.
M	: matrix 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.

vpMatrix M(3,4);
vpMatrix::saveMatrixYAML("matrix.yml", M, "example: a YAML-formatted header");
vpMatrix::saveMatrixYAML("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: loadMatrixYAML()

Definition at line 3892 of file vpMatrix.cpp.

References vpMatrix::getCols(), and vpMatrix::getRows().

void vpMatrix::setIdentity ( const double & val = 1.0 )

inherited

By default set the matrix to identity. More generally set M[i][i] = val.

Definition at line 1230 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrixException::matrixError, vpMatrix::rowNum, and vpERROR_TRACE.

Referenced by vpServo::computeControlLaw(), vpMbTracker::computeCovarianceMatrix(), vpMatrix::expm(), vpTemplateTrackerWarpHomographySL3::getdW0(), vpTemplateTrackerWarpHomographySL3::getdWdp0(), vpFeatureThetaU::interaction(), vpMeLine::leastSquare(), vpPose::poseFromRectangle(), vpServo::secondaryTask(), and vpMbTracker::vpMbTracker().

void vpHomogeneousMatrix::setIdentity ( )

Basic initialisation (identity)

Definition at line 729 of file vpHomogeneousMatrix.cpp.

References init().

Referenced by vpPose::computeTransformation(), vpViper::get_wMe(), vpMbTracker::initClick(), vpMbKltTracker::reinit(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbKltTracker::setPose(), vpAfma6::vpAfma6(), and vpViper::vpViper().

unsigned int vpMatrix::size ( ) const

inlineinherited

Return the number of elements of the matrix.

Definition at line 165 of file vpMatrix.h.

void vpMatrix::solveBySVD	(	const vpColVector &	b,
		vpColVector &	x
	)		const

inherited

Solve a linear system $ A X = B $ using Singular Value Decomposition (SVD).

Non destructive wrt. A and B.

Parameters

b	: Vector .
x	: Vector .

Here an example:

#include <visp/vpColVector.h>
#include <visp/vpMatrix.h>
int main()
{
vpMatrix A(3,3);
A[0][0] = 4.64; 
A[0][1] = 0.288; 
A[0][2] = -0.384; 
A[1][0] = 0.288; 
A[1][1] = 7.3296; 
A[1][2] = 2.2272; 
A[2][0] = -0.384; 
A[2][1] = 2.2272; 
A[2][2] = 6.0304; 
vpColVector X(3), B(3);
B[0] = 1;
B[1] = 2;
B[2] = 3;
A.solveBySVD(B, X);
// Obtained values of X
// X[0] = 0.2468; 
// X[1] = 0.120782; 
// X[2] = 0.468587; 
std::cout << "X:\n" << X << std::endl;
}

See also: solveBySVD(const vpColVector &)

Definition at line 1693 of file vpMatrix.cpp.

References vpMatrix::pseudoInverse().

Referenced by vpMatrix::solveBySVD().

vpColVector vpMatrix::solveBySVD ( const vpColVector & B ) const

inherited

Solve a linear system $ A X = B $ using Singular Value Decomposition (SVD).

Non destructive wrt. A and B.

Parameters

B	: Vector .

Returns: Vector .

Here an example:

#include <visp/vpColVector.h>
#include <visp/vpMatrix.h>
int main()
{
vpMatrix A(3,3);
A[0][0] = 4.64; 
A[0][1] = 0.288; 
A[0][2] = -0.384; 
A[1][0] = 0.288; 
A[1][1] = 7.3296; 
A[1][2] = 2.2272; 
A[2][0] = -0.384; 
A[2][1] = 2.2272; 
A[2][2] = 6.0304; 
vpColVector X(3), B(3);
B[0] = 1;
B[1] = 2;
B[2] = 3;
X = A.solveBySVD(B);
// Obtained values of X
// X[0] = 0.2468; 
// X[1] = 0.120782; 
// X[2] = 0.468587; 
std::cout << "X:\n" << X << std::endl;
}

See also: solveBySVD(const vpColVector &, vpColVector &)

Definition at line 1748 of file vpMatrix.cpp.

References vpMatrix::colNum, and vpMatrix::solveBySVD().

void vpMatrix::stackColumns ( vpColVector & out )

inherited

Stacks columns of a matrix in a vector.

Parameters

out	: a vpColVector.

Definition at line 1493 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::data, vpColVector::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, vpCERROR, and vpERROR_TRACE.

vpColVector vpMatrix::stackColumns ( )

inherited

Stacks columns of a matrix in a vector.

Returns: a vpColVector.

Definition at line 1517 of file vpMatrix.cpp.

References vpMatrix::colNum, and vpMatrix::rowNum.

void vpMatrix::stackMatrices ( const vpMatrix & A )

inherited

Stack A at the end of the current matrix, or copy if the matrix has no dimensions : this = [ this A ]^T

Here an example for a robot velocity log :

vpMatrix Velocities;
vpColVector v(6);
for(unsigned int i = 0;i<100;i++)
{
  robot.getVelocity(vpRobot::ARTICULAR_FRAME, v);
  Velocities.stackMatrices(v.t());
}

Examples:: servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 3272 of file vpMatrix.cpp.

References vpMatrix::rowNum.

vpMatrix vpMatrix::stackMatrices	(	const vpMatrix &	A,
		const vpMatrix &	B
	)

staticinherited

Stack two Matrices C = [ A B ]^T.

Stack matrices. "Stack" two matrices C = [ A B ]^T.

$C = \left( \begin{array}{c} A \\ B \end{array}\right)$

Parameters

A	: Upper matrix.
B	: Lower matrix.

Returns: Stacked matrix C = [ A B ]^T

Warning: A and B must have the same number of column.

Definition at line 2581 of file vpMatrix.cpp.

References vpMatrix::stackMatrices(), and vpCERROR.

void stackMatrices	(	const vpMatrix &	A,
		const vpMatrix &	B,
		vpMatrix &	C
	)

staticinherited

Stack two Matrices C = [ A B ]^T.

stackMatrices. "stack" two matrices C = [ A B ]^T

$C = \left( \begin{array}{c} A \\ B \end{array}\right)$

Parameters

A	: Upper matrix.
B	: Lower matrix.
C	: Stacked matrix C = [ A B ]^T

Warning: A and B must have the same number of column

Definition at line 2610 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::resize(), vpCERROR, and vpERROR_TRACE.

void vpMatrix::stackRows ( vpRowVector & out )

inherited

Stacks rows of a matrix in a vector

Parameters

out	: a vpRowVector.

Definition at line 1528 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::data, vpMatrix::dsize, vpRowVector::resize(), vpMatrix::rowNum, vpCERROR, and vpERROR_TRACE.

vpRowVector vpMatrix::stackRows ( )

inherited

Stacks rows of a matrix in a vector.

Returns: a vpRowVector.

Definition at line 1550 of file vpMatrix.cpp.

References vpMatrix::colNum, and vpMatrix::rowNum.

void vpMatrix::sub2Matrices	(	const vpMatrix &	A,
		const vpMatrix &	B,
		vpMatrix &	C
	)

staticinherited

Operation C = A - B.

The result is placed in the third parameter C and not returned. A new matrix won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).

See also: operator-()

Definition at line 671 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, and vpERROR_TRACE.

Referenced by vpMatrix::operator-().

double vpMatrix::sum ( ) const

inherited

Return the sum of all the $a_{ij}$ elements of the matrix.

Returns: $\sum a_{ij}$

Definition at line 903 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::rowNum, and vpMatrix::rowPtrs.

Referenced by vpMatrix::expm().

double vpMatrix::sumSquare ( ) const

inherited

Return the sum square of all the $a_{ij}$ elements of the matrix.

Returns: $\sum a_{ij}^{2}$

Examples:: photometricVisualServoing.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoMomentImage.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 868 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::rowNum, and vpMatrix::rowPtrs.

Referenced by vpPose::calculArbreDementhon(), vpCalibration::calibrationTsai(), vpMbTracker::computeCovarianceMatrix(), vpPose::coplanar(), vpFeatureDepth::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpMbTracker::extractCylinders(), vpFeatureThetaU::interaction(), vpMatrix::kernel(), vpRowVector::normalize(), vpColVector::normalize(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpMatrix::pseudoInverse(), vpServoData::save(), vpSimulatorAfma6::setPosition(), and vpSimulatorViper850::setPosition().

void vpMatrix::svd	(	vpColVector &	w,
		vpMatrix &	v
	)

inherited

Singular value decomposition (SVD).

$M = U \Sigma V^{\top}$

Warning: Destructive method wrt. to the matrix to decompose. You should make a COPY of that matrix if needed not to CHANGE.

Parameters

w	: Vector of singular values. $\Sigma = diag(w)$ .
v	: Matrix .

Returns: Matrix .

Warning: If the GNU Scientific Library (GSL) third party library is used to compute the SVD decomposition, the singular values $\Sigma_{i,i}$ are ordered in decreasing fashion in w. This is not the case, if the GSL is not detected by ViSP.

Here an example of SVD decomposition of a non square Matrix M.

#include <visp/vpColVector.h>
#include <visp/vpMatrix.h>
int main()
{
vpMatrix M(3,2);
M[0][0] = 1;
M[1][0] = 2;
M[2][0] = 0.5;
M[0][1] = 6;
M[1][1] = 8 ;
M[2][1] = 9 ;
vpMatrix v;
vpColVector w;
vpMatrix Mrec;
vpMatrix Sigma;
M.svd(w, v); 
// Here M is modified and is now equal to U
// Construct the diagonal matrix from the singular values
Sigma.diag(w);
// Reconstruct the initial matrix M using the decomposition
Mrec =  M * Sigma * v.t();
// Here, Mrec is obtained equal to the initial value of M
// Mrec[0][0] = 1;
// Mrec[1][0] = 2;
// Mrec[2][0] = 0.5;
// Mrec[0][1] = 6;
// Mrec[1][1] = 8 ;
// Mrec[2][1] = 9 ;
std::cout << "Reconstructed M matrix: \n" << Mrec << std::endl;
}

Examples:: servoMomentImage.cpp.

Definition at line 1822 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRows(), vpColVector::resize(), and vpMatrix::resize().

Referenced by vpHomography::computeDisplacement(), vpMatrix::cond(), vpHomography::DLT(), vpMatrix::kernel(), vpPose::poseDementhonPlan(), and vpMatrix::pseudoInverse().

vpMatrix vpMatrix::t ( ) const

inherited

Compute and return the transpose of the matrix.

Examples:: photometricVisualServoing.cpp, and servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp.

Definition at line 1296 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::resize(), vpMatrix::rowNum, vpCERROR, and vpERROR_TRACE.

Referenced by vpCalibration::calibrationTsai(), vpServo::computeControlLaw(), vpMatrix::computeCovarianceMatrix(), vpTemplateTracker::computeOptimalBrentGain(), vpMatrix::eigenValues(), vpKalmanFilter::filtering(), vpTemplateTrackerWarpHomographySL3::findWarp(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpKalmanFilter::prediction(), and vpMatrix::pseudoInverse().

vpMatrix vpMatrix::transpose ( ) const

inherited

Compute and return the transpose of the matrix.

See also: t()

Definition at line 1326 of file vpMatrix.cpp.

Referenced by vpTemplateTrackerWarpSRT::getParamInverse().

void vpMatrix::transpose ( vpMatrix & At ) const

inherited

Compute At the transpose of the matrix.

Parameters

At	: Resulting transpose matrix.

See also: t()

Definition at line 1338 of file vpMatrix.cpp.

References vpMatrix::colNum, vpMatrix::resize(), vpMatrix::rowNum, vpMatrix::rowPtrs, vpCERROR, and vpERROR_TRACE.

Friends And Related Function Documentation

vpMatrix operator*	(	const double &	x,
		const vpMatrix &	B
	)

Definition at line 1006 of file vpMatrix.cpp.

References vpMatrix::getCols(), vpMatrix::getRows(), vpMatrix::resize(), and vpERROR_TRACE.

void skew	(	const vpTranslationVector &	t,
		vpMatrix &	M
	)

$\mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z \end{array}\right), \quad \mbox{then} \qquad M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right)$

Parameters

t	: Translation vector in input used to compute the skew symmetric matrix M.
M	: Skew symmetric matrix of translation vector .

Examples:: servoSimuSphere.cpp.

Definition at line 296 of file vpTranslationVector.cpp.

References vpMatrix::resize().

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

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

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

If C is not used, vpGEMM must be called using an empty matrix null :

vpGEMM(A,B,alpha,C, null,0);

Exceptions

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

Parameters

A	: a Matrix
B	: a Matrix
alpha	: a scalar
C	: a Matrix
beta	: a scalar
D	: a Matrix
ops	: a scalar describing operation applied on the matrices

Examples:: testMatrix.cpp.

Definition at line 331 of file vpGEMM.h.

References vpMatrixException::incorrectMatrixSizeError, and vpERROR_TRACE.

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 63 of file vpGEMM.h.

Member Data Documentation

unsigned int vpMatrix::colNum

protectedinherited

number of columns

Definition at line 114 of file vpMatrix.h.

double* vpMatrix::data

inherited

address of the first element of the data array

Definition at line 118 of file vpMatrix.h.

Referenced by vpMatrix::AtA(), buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpPose::computeResidual(), vpPose::computeTransformation(), convert(), vpColVector::dotProd(), vpMatrix::eigenValues(), vpMatrix::euclideanNorm(), vpMatrix::expm(), vpRobotViper650::getForceTorque(), vpRobotViper850::getForceTorque(), vpMatrix::getMaxValue(), vpMatrix::getMinValue(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotViper850::getVelocity(), vpRobotViper650::getVelocity(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByQRLapack(), vpColVector::invSort(), vpMatrix::kill(), vpColVector::mean(), vpColVector::median(), vpRowVector::operator*(), vpTranslationVector::operator*(), vpColVector::operator*(), vpTranslationVector::operator-(), vpColVector::operator-(), vpRowVector::operator-(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpTranslationVector::operator=(), vpMatrix::operator=(), vpRowVector::operator[](), vpColVector::operator[](), vpPose::ransac(), vpRowVector::reshape(), vpColVector::reshape(), vpMatrix::resize(), vpRobotAfma4::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpColVector::sort(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpRowVector::t(), vpColVector::t(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), vpSubColVector::~vpSubColVector(), vpSubMatrix::~vpSubMatrix(), and vpSubRowVector::~vpSubRowVector().

unsigned int vpMatrix::dsize

protectedinherited

Current size (rowNum * colNum)

Definition at line 124 of file vpMatrix.h.

Referenced by vpMatrix::euclideanNorm(), vpMatrix::getMaxValue(), vpMatrix::getMinValue(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::init(), vpTranslationVector::operator*(), vpTranslationVector::operator-(), vpMatrix::operator=(), vpRowVector::reshape(), vpColVector::reshape(), vpMatrix::resize(), and vpMatrix::stackRows().

unsigned int vpMatrix::rowNum

protectedinherited

number of rows

Definition at line 112 of file vpMatrix.h.

double** vpMatrix::rowPtrs

protectedinherited

address of the first element of each rows

Definition at line 121 of file vpMatrix.h.

unsigned int vpMatrix::trsize

protectedinherited

Total row space.

Definition at line 126 of file vpMatrix.h.

Referenced by vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::init(), and vpMatrix::resize().

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation