vpRotationVector.h

/****************************************************************************
 *
 * $Id: vpRotationVector.h 4632 2014-02-03 17:06:40Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Generic rotation vector (cannot be used as is !).
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpRotationVECTOR_H
#define vpRotationVECTOR_H

#include <visp/vpMath.h>
#include <visp/vpRowVector.h>
#include <stdio.h>
#include <iostream>


#include <math.h>

class VISP_EXPORT vpRotationVector
{  
  friend class vpColVector;
protected:
  double *r ;
  unsigned int _size;
  void init(const unsigned int size);
public:
  vpRotationVector()
    : r(NULL), _size(0)
  {
    init(3);
  }

  vpRotationVector(const unsigned int n)
    : r(NULL), _size(n)
  {
    init(n);
  }
  vpRotationVector(const vpRotationVector &v)
    : r(NULL), _size(0)
  {
    *this = v;
  }

  virtual ~vpRotationVector();

  inline double &operator [](unsigned int n) {  return *(r + n);  }
  inline const double &operator [](unsigned int n) const { return *(r+n);  }

  vpRotationVector &operator=(const vpRotationVector &v)
  {
    init(v.size());
    for (unsigned int i=0; i<_size; i++)
    {
      r[i] = v.r[i] ;
    }
    return *this;
  }

  unsigned int size() const;

  // Transpose of the rotation vector.
  vpRowVector t() const;

  friend VISP_EXPORT std::ostream &operator << (std::ostream &s, const vpRotationVector &m);

} ;

#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */