vpRotationVector.cpp

/****************************************************************************
 *
 * $Id: vpRotationVector.cpp 4649 2014-02-07 14:57:11Z 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
 *
 *****************************************************************************/

#include <visp/vpRotationVector.h>
#include <algorithm>
#include <math.h>
vpRowVector vpRotationVector::t() const
{
  vpRowVector v(_size);

  for (unsigned int i=0; i< _size; i++)
    v[i] = r[i];

  return v;
}

unsigned int vpRotationVector::size() const {
    return _size;
}
VISP_EXPORT std::ostream &operator <<(std::ostream &s,const vpRotationVector &m)
{
  std::ios::fmtflags original_flags( s.flags() );
  s.precision(10) ;

  for (unsigned int i=0; i < m.size(); i++)
    s <<  m.r[i] << "\n";

  s << std::endl;

  // Restore ostream format
  s.flags(original_flags);

  return s;
}


void vpRotationVector::init(const unsigned int vector_size){
  this->_size = vector_size;
    r = new double[this->_size];
    std::fill(r,r+this->_size,0.);
}

vpRotationVector::~vpRotationVector(){
    delete[] r;
}