vpRowVector.cpp

/****************************************************************************
 *
 * $Id: vpRowVector.cpp 5185 2015-01-21 14:36:41Z 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:
 * Operation on row vectors.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#include <visp/vpMatrix.h>
#include <visp/vpMatrixException.h>
#include <visp/vpRowVector.h>
#include <visp/vpColVector.h>
#include <visp/vpDebug.h>
#include <string.h>
#include <stdlib.h>
vpRowVector & vpRowVector::operator=(const vpRowVector &v)
{
  if (colNum==0)
    resize(v.getCols());

  for (unsigned int i=0; i<rowNum; i++) {
    for (unsigned int j=0; j<colNum; j++) {
      rowPtrs[i][j] = v.rowPtrs[i][j];
    }
  }
  return *this;
}

vpRowVector & vpRowVector::operator=(const vpMatrix &m)
{
  if (m.getCols() != colNum)
    resize(m.getCols());

  memcpy(data, m.data, colNum*sizeof(double)) ;
  /*
  for (int i=0; i<rowNum; i++) {
    for (int j=0; j<colNum; j++) {
      rowPtrs[i][j] = m.rowPtrs[i][j];
    }
    }*/
  return *this;
}

vpRowVector & vpRowVector::operator=(double x)
{
  for (unsigned int i=0; i<rowNum; i++) {
    for (unsigned int j=0; j<colNum; j++) {
      rowPtrs[i][j] = x;
    }
  }
  return *this;
}

double vpRowVector::operator*(const vpColVector &x) const
{
  unsigned int nelements = x.getRows();
  if (getCols() != nelements ) {
    throw(vpException(vpException::dimensionError,
                      "Bad size during vpRowVector (1x%d) by vpColVector (%dx1) multiplication",
                      colNum, x.getRows())) ;
  }

  double scalar = 0.0;

  for (unsigned int i=0; i<nelements; i++) {
    scalar += (*this)[i] * x[i];
  }
  return scalar;
}
vpRowVector vpRowVector::operator*(const vpMatrix &A) const
{
  vpRowVector c(A.getCols());

  if (colNum != A.getRows())
  {
    vpERROR_TRACE("vpMatrix mismatch in vpRowVector/matrix multiply") ;
    throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
                            "vpMatrix mismatch in vpRowVector/matrix multiply")) ;
  }

  c = 0.0;

  for (unsigned int i=0;i<colNum;i++) {
    {
      double bi = data[i] ; // optimization em 5/12/2006
      for (unsigned int j=0;j<A.getCols();j++) {
        c[j]+=bi*A[i][j];
      }
    }
  }

  return c ;
}

vpRowVector vpRowVector::operator-() const
{
 vpRowVector A ;
 try {
   A.resize(colNum)  ;
 }
 catch(vpException me)
 {
   vpERROR_TRACE("Error caught") ;
   throw ;
 }

 double *vd = A.data ;   double *d = data ;

 for (unsigned int i=0; i<colNum; i++)
   *(vd++)= - (*d++);

 return A;
}

vpRowVector vpRowVector::operator-(const vpRowVector &m) const
{
  if (getCols() != m.getCols() ) {
    throw(vpException(vpException::dimensionError,
                      "Bad size during vpRowVector (1x%d) and vpRowVector (1x%d) substraction",
                      getCols(), m.getCols())) ;
  }

  vpRowVector v(colNum) ;

  for (unsigned int i=0;i<colNum;i++)
    v[i] = (*this)[i] - m[i];
  return v;
}

vpRowVector vpRowVector::operator+(const vpRowVector &m) const
{
  if (getCols() != m.getCols() ) {
    throw(vpException(vpException::dimensionError,
                      "Bad size during vpRowVector (1x%d) and vpRowVector (1x%d) substraction",
                      getCols(), m.getCols())) ;
  }

  vpRowVector v(colNum) ;

  for (unsigned int i=0;i<colNum;i++)
    v[i] = (*this)[i] + m[i];
  return v;
}

vpRowVector & vpRowVector::operator<<(const vpRowVector &v)
{
  *this = v;
  return *this;
}

vpColVector vpRowVector::t() const
{
  vpColVector tmp(colNum);
  memcpy(tmp.data, data, colNum*sizeof(double)) ;
  /*
  for (int i=0;i<colNum;i++)
      tmp[i] = (*this)[i];
  */
  return tmp;
}

vpRowVector::vpRowVector (const vpRowVector &v) : vpMatrix(v)
{
}

vpRowVector::vpRowVector (vpMatrix &m, unsigned int i) : vpMatrix(m, i, 0, 1, m.getCols())
{
}

vpRowVector &vpRowVector::normalize(vpRowVector &x) const
{
  x = x/sqrt(x.sumSquare());

  return x;
}


vpRowVector &vpRowVector::normalize()
{
  double sum_square = sumSquare() ;
  *this /= sum_square ;

  return *this;
}

vpMatrix vpRowVector::reshape(const unsigned int &nrows,const unsigned int &ncols){
  vpMatrix m(nrows,ncols);
  reshape(m,nrows,ncols);
  return m;
}

void vpRowVector::reshape(vpMatrix & m,const unsigned int &nrows,const unsigned int &ncols){
  if(dsize!=nrows*ncols)
  {
    vpERROR_TRACE("\n\t\t vpSubRowVector mismatch size for reshape vpSubColVector in a vpMatrix") ;
    throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
                "\n\t\t \n\t\t vpSubRowVector mismatch size for reshape vpSubColVector in a vpMatrix")) ;
  }
  try 
  {
    if ((m.getRows() != nrows) || (m.getCols() != ncols)) m.resize(nrows,ncols);
  }
  catch(vpException me)
  {
    vpERROR_TRACE("Error caught") ;
    std::cout << me << std::endl ;
    throw ;
  }
     for(unsigned int i =0; i< nrows; i++)
         for(unsigned int j =0; j< ncols; j++)
              m[i][j]=data[i*nrows+j];
}

void vpRowVector::insert(unsigned int i, const vpRowVector &v)
{
  if (i+v.size() > this->size())
    throw(vpException(vpException::dimensionError, "Unable to insert a row vector"));
  for (unsigned int j=0; j < v.size(); j++)
    (*this)[i+j] = v[j];
}