vpColVector.h

/****************************************************************************
 *
 * $Id: vpColVector.h 3694 2012-05-03 07:18:31Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 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:
 * Provide some simple operation on column vectors.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/



#ifndef vpColVector_H
#define vpColVector_H

#include <visp/vpMatrix.h>
#include <visp/vpRowVector.h>
#include <visp/vpMath.h>

class vpMatrix;
class vpRotationVector;

class VISP_EXPORT vpColVector : public vpMatrix
{
   friend class vpMatrix;
protected:
  vpColVector (vpMatrix &m, unsigned int j);
  vpColVector (vpColVector &m, unsigned int r, unsigned int nrows) ;

public:

  vpColVector() : vpMatrix() {};
  vpColVector(unsigned int nn) : vpMatrix(nn,1){};
  vpColVector (const vpColVector &v);
  vpColVector (const vpRotationVector &v);

  void resize(const unsigned int i, const bool flagNullify = true)
  {  vpMatrix::resize(i, 1, flagNullify); }


  inline double &operator [](unsigned int n) {  return *(data + n);  }
  inline const double &operator [](unsigned int n) const { return *(data+n);  }
  vpColVector &operator=(const vpColVector &v);
  vpColVector &operator<<(const vpColVector &v);
  vpColVector &operator<<(double *);
  vpColVector &operator=(const vpMatrix &m);
  vpColVector &operator=(double x);

  vpColVector operator+(const vpColVector &v) const;
  vpColVector operator-(const vpColVector &v) const;
  double  operator*(const vpColVector &x) const;
  vpMatrix  operator*(const vpRowVector &x) const;
  vpColVector operator*(const double x) const;
  vpColVector operator-() ;

  vpColVector rows(unsigned int first_row, unsigned int last_row)
  { 
    return vpColVector(*this, first_row-1, last_row-first_row+1);
  }

  void reshape(vpMatrix & m,
           const unsigned int &nrows, const unsigned int &ncols);
  vpMatrix reshape(const unsigned int &nrows, const unsigned int &ncols);

  void stack(const vpColVector &B);
  static vpColVector stack(const vpColVector &A, const vpColVector &B);
  static void stack(const vpColVector &A, const vpColVector &B, vpColVector &C);

  vpRowVector t() const;

  vpColVector &normalize() ;
  //  vpColVector &normalize(vpColVector &x) const ;

  static vpColVector crossProd(const vpColVector &a, const vpColVector &b)  ;
  
  // compute the cross product of two vectors C = a x b
  inline static vpColVector cross(const vpColVector &a, const vpColVector &b){
                                  return crossProd(a,b);}
  
  // compute the skew matrix [v]x
  static vpMatrix skew(const vpColVector &v);
  
  static double dotProd(const vpColVector &a, const vpColVector &b)  ;
 
  static vpColVector  sort(const vpColVector &v)  ;
  static vpColVector invSort(const vpColVector &v)  ;
  static double median(const vpColVector &v) ;
  static double mean(const vpColVector &v)  ;

  inline void rad2deg() {
    double rad2deg = 180.0/M_PI;

    for (unsigned int i=0; i < rowNum; i++)
      (*this)[i] *= rad2deg;
  }
  inline void deg2rad() {
    double deg2rad = M_PI/180.0;

    for (unsigned int i=0; i < rowNum; i++)
      (*this)[i] *= deg2rad;
  }

  inline unsigned int size() const
  {
    return getRows();
  }

};


#endif


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