ViSP  2.8.0
vpRotationVector.h
1 /****************************************************************************
2  *
3  * $Id: vpRotationVector.h 4317 2013-07-17 09:40:17Z fspindle $
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5  * This file is part of the ViSP software.
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11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
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19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
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24  * France
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30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Generic rotation vector (cannot be used as is !).
36  *
37  * Authors:
38  * Eric Marchand
39  *
40  *****************************************************************************/
41 
42 #ifndef vpRotationVECTOR_H
43 #define vpRotationVECTOR_H
44 
54 #include <visp/vpMath.h>
55 #include <visp/vpRowVector.h>
56 #include <stdio.h>
57 #include <iostream>
58 
59 
60 #include <math.h>
61 
95 class VISP_EXPORT vpRotationVector
96 {
97  friend class vpColVector;
98 protected:
99  double *r ;
100  unsigned int _size;
101  void init(const unsigned int size);
102 public:
105  init(3);
106  }
107 
108 
110  vpRotationVector(const unsigned int n) {
111  init(n);
112  }
113 
114  ~vpRotationVector();
115 
120  inline double &operator [](unsigned int n) { return *(r + n); }
125  inline const double &operator [](unsigned int n) const { return *(r+n); }
126 
127 
130  unsigned int size() const;
131 
132  // Transpose of the rotation vector.
133  vpRowVector t() const;
134 
135  friend VISP_EXPORT std::ostream &operator << (std::ostream &s,
136  const vpRotationVector &m);
137 
138 } ;
139 
140 #endif
141 
142 /*
143  * Local variables:
144  * c-basic-offset: 2
145  * End:
146  */
Class that consider the case of a generic rotation vector (cannot be used as is !) consisting in thre...
void init()
Initialization of the object matrix.
Definition: vpMatrix.cpp:93
Definition of the row vector class.
Definition: vpRowVector.h:73
double & operator[](unsigned int n)
Access V[i] = x.
Definition: vpColVector.h:99
vpRotationVector(const unsigned int n)
Constructor that constructs a vector of size n initialize three vector values to zero.
unsigned int size() const
Definition: vpColVector.h:199
vpRowVector t() const
transpose of Vector
vpRotationVector()
Constructor that constructs a vector of size 3 initialize three vector values to zero.
vpColVector & operator<<(const vpColVector &v)
Copy operator. Allow operation such as A = v.
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
unsigned int _size