vpTranslationVector.h

/****************************************************************************
 *
 * $Id: vpTranslationVector.h 4574 2014-01-09 08:48:51Z 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:
 * Translation vector.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/



#ifndef vpTRANSLATIONVECTOR_H
#define vpTRANSLATIONVECTOR_H

#include <visp/vpColVector.h>


class VISP_EXPORT vpTranslationVector : public vpColVector
{
private:
    void init() ;

public:

    vpTranslationVector() { init() ; }
    // constructor from double in meter
    vpTranslationVector(const double tx, const double ty, const double tz) ;
    // copy constructor
    vpTranslationVector(const vpTranslationVector &t);
    void set(const double tx, const double ty, const double tz) ;

    // operators

    // translation vectors additions  c = a + b (a, b  unchanged)
    vpTranslationVector operator+(const vpTranslationVector &t) const ;
    // translation vectors substraction  c = a - b (a, b  unchanged)
    vpTranslationVector operator-(const vpTranslationVector &t) const ;
    // negate t = -a  (t is unchanged)
    vpTranslationVector operator-() const ;
    // b = x * a (x=scalar)
    vpTranslationVector operator*(const double x) const;
    // Copy operator.   Allow operation such as A = v
    vpTranslationVector &operator=(const vpTranslationVector &t);

    vpTranslationVector &operator=(double x) ;


    // Skew Symmetric matrix
    vpMatrix skew() const ;
    static vpMatrix skew(const vpTranslationVector &t) ;
    static void skew(const  vpTranslationVector &t, vpMatrix &M) ;
    static vpTranslationVector cross(const vpTranslationVector &a,
                     const vpTranslationVector &b) ;
} ;

#endif

/*
 * Local variables:
 * c-basic-offset: 4
 * End:
 */