vpTranslationVector.cpp

/****************************************************************************
 *
 * $Id: vpTranslationVector.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:
 * Translation vector.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#include <visp/vpTranslationVector.h>
#include <stdio.h>
#include <string.h>

// Exception
#include <visp/vpException.h>
#include <visp/vpMatrixException.h>

// Debug trace
#include <visp/vpDebug.h>

void vpTranslationVector::init()
{
    resize(3) ;
}

vpTranslationVector::vpTranslationVector(const double tx,
                     const double ty,
                     const double tz)
{
    init() ;
    (*this)[0] = tx ;
    (*this)[1] = ty ;
    (*this)[2] = tz ;
}

vpTranslationVector::vpTranslationVector (const vpTranslationVector &tv) : vpColVector(tv)
{
}

void
vpTranslationVector::set(const double tx,
             const double ty,
             const double tz)
{
    (*this)[0] = tx ;
    (*this)[1] = ty ;
    (*this)[2] = tz ;
}

vpTranslationVector
vpTranslationVector::operator+(const vpTranslationVector &tv) const
{
    vpTranslationVector sum ;

    for (unsigned int i=0;i<3;i++)  sum[i] = (*this)[i]+tv[i] ;

    return sum;
}

vpTranslationVector
vpTranslationVector::operator-(const vpTranslationVector &tv) const
{
    vpTranslationVector sub ;

    for (unsigned int i=0;i<3;i++)  sub[i] = (*this)[i]-tv[i] ;

    return sub;
}


vpTranslationVector vpTranslationVector::operator-() const //negate
{
  vpTranslationVector tv ;
  for (unsigned int i=0;i<dsize;i++)
  {
    *(tv.data + i) = -*(data + i) ;
  }

  return tv;
}

vpTranslationVector vpTranslationVector::operator*(const double x) const 
{
  vpTranslationVector tv ;
  for (unsigned int i=0;i<dsize;i++)
  {
    *(tv.data + i) = (*(data + i)) * x ;
  }

  return tv;
}

vpTranslationVector &vpTranslationVector::operator=(const vpTranslationVector &tv)
{

  unsigned int k = tv.rowNum ;
  if (rowNum != k){
    try {
      resize(k);
    }
    catch(vpException me)
    {
      vpERROR_TRACE("Error caught") ;
      throw ;
    }
  }

  memcpy(data, tv.data, rowNum*sizeof(double)) ;

  return *this;
}

vpTranslationVector & vpTranslationVector::operator=(double x)
{

  double *d = data ;

  for (int i=0;i<3;i++)
    *(d++)=  x ;

  return *this;
}

void
vpTranslationVector::skew(const vpTranslationVector &t,vpMatrix &M)
{
    M.resize(3,3) ;
    M[0][0] = 0 ;     M[0][1] = -t[2] ;  M[0][2] = t[1] ;
    M[1][0] = t[2] ;  M[1][1] = 0 ;      M[1][2] = -t[0] ;
    M[2][0] = -t[1] ; M[2][1] = t[0] ;   M[2][2] = 0 ;
}

vpMatrix
vpTranslationVector::skew(const vpTranslationVector &t)
{
    vpMatrix M(3, 3);
    skew(t,M);
    return M;
}

vpMatrix
vpTranslationVector::skew() const
{
    vpMatrix M(3, 3);
    skew(*this,M);
    return M;
}


vpTranslationVector
vpTranslationVector::cross(const vpTranslationVector &a,
               const vpTranslationVector &b)
{
  vpMatrix skew_a = vpTranslationVector::skew(a) ;
  return (vpTranslationVector)(skew_a * b);
}

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