Visual Servoing Platform  version 3.0.0
vpRotationMatrix Class Reference

#include <visp3/core/vpRotationMatrix.h>

+ Inheritance diagram for vpRotationMatrix:

Public Member Functions

 vpRotationMatrix ()
 
 vpRotationMatrix (const vpRotationMatrix &R)
 
 vpRotationMatrix (const vpHomogeneousMatrix &M)
 
 vpRotationMatrix (const vpThetaUVector &r)
 
 vpRotationMatrix (const vpPoseVector &p)
 
 vpRotationMatrix (const vpRzyzVector &r)
 
 vpRotationMatrix (const vpRxyzVector &r)
 
 vpRotationMatrix (const vpRzyxVector &r)
 
 vpRotationMatrix (const vpQuaternionVector &q)
 
 vpRotationMatrix (const double tux, const double tuy, const double tuz)
 
virtual ~vpRotationMatrix ()
 
vpRotationMatrix buildFrom (const vpHomogeneousMatrix &M)
 
vpRotationMatrix buildFrom (const vpThetaUVector &v)
 
vpRotationMatrix buildFrom (const vpPoseVector &p)
 
vpRotationMatrix buildFrom (const vpRzyzVector &v)
 
vpRotationMatrix buildFrom (const vpRxyzVector &v)
 
vpRotationMatrix buildFrom (const vpRzyxVector &v)
 
vpRotationMatrix buildFrom (const vpQuaternionVector &q)
 
vpRotationMatrix buildFrom (const double tux, const double tuy, const double tuz)
 
void eye ()
 
vpColVector getCol (const unsigned int j) const
 
vpThetaUVector getThetaUVector ()
 
vpRotationMatrix inverse () const
 
void inverse (vpRotationMatrix &R) const
 
bool isARotationMatrix () const
 
vpRotationMatrixoperator= (const vpRotationMatrix &R)
 
vpRotationMatrixoperator= (const vpMatrix &M)
 
vpTranslationVector operator* (const vpTranslationVector &tv) const
 
vpRotationMatrix operator* (const vpRotationMatrix &R) const
 
vpMatrix operator* (const vpMatrix &M) const
 
vpColVector operator* (const vpColVector &v) const
 
vpRotationMatrix operator* (const double x) const
 
vpRotationMatrixoperator*= (const double x)
 
void printVector ()
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
 
vpRotationMatrix t () const
 
Deprecated functions
vp_deprecated void init ()
 
vp_deprecated void setIdentity ()
 
Inherited functionalities from vpArray2D
double getMinValue () const
 
double getMaxValue () const
 
unsigned int getRows () const
 
unsigned int getCols () const
 
unsigned int size () const
 
double * operator[] (unsigned int i)
 
double * operator[] (unsigned int i) const
 

Static Public Member Functions

Inherited I/O from vpArray2D with Static Public Member Functions
static bool load (const std::string &filename, vpArray2D< double > &A, const bool binary=false, char *header=NULL)
 
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=NULL)
 
static bool save (const std::string &filename, const vpArray2D< double > &A, const bool binary=false, const char *header="")
 
static bool saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")
 

Public Attributes

double * data
 

Protected Attributes

unsigned int rowNum
 
unsigned int colNum
 
double ** rowPtrs
 
unsigned int dsize
 

Related Functions

(Note that these are not member functions.)

enum  vpGEMMmethod
 

Detailed Description

Constructor & Destructor Documentation

vpRotationMatrix::vpRotationMatrix ( )

Default constructor that initialise a 3-by-3 rotation matrix to identity.

Definition at line 345 of file vpRotationMatrix.cpp.

References eye().

vpRotationMatrix::vpRotationMatrix ( const vpRotationMatrix M)

Copy contructor that construct a 3-by-3 rotation matrix from another rotation matrix.

Definition at line 354 of file vpRotationMatrix.cpp.

vpRotationMatrix::vpRotationMatrix ( const vpHomogeneousMatrix M)

Construct a 3-by-3 rotation matrix from an homogeneous matrix.

Definition at line 361 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpThetaUVector tu)

Construct a 3-by-3 rotation matrix from $ \theta {\bf u}$ angle representation.

Definition at line 369 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpPoseVector p)

Construct a 3-by-3 rotation matrix from a pose vector.

Definition at line 377 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpRzyzVector euler)

Construct a 3-by-3 rotation matrix from $ R(z,y,z) $ Euler angle representation.

Definition at line 385 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpRxyzVector Rxyz)

Construct a 3-by-3 rotation matrix from $ R(x,y,z) $ Euler angle representation.

Definition at line 393 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpRzyxVector Rzyx)

Construct a 3-by-3 rotation matrix from $ R(z,y,x) $ Euler angle representation.

Definition at line 401 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpQuaternionVector q)

Construct a 3-by-3 rotation matrix from quaternion angle representation.

Definition at line 417 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const double  tux,
const double  tuy,
const double  tuz 
)

Construct a 3-by-3 rotation matrix from $ \theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ angle representation.

Definition at line 409 of file vpRotationMatrix.cpp.

References buildFrom().

virtual vpRotationMatrix::~vpRotationMatrix ( )
inlinevirtual

Destructor.

Definition at line 86 of file vpRotationMatrix.h.

Member Function Documentation

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpThetaUVector v)

Transform a $ \theta {\bf u}$ angle representation into a rotation matrix.

The rotation is computed using :

\[ R = \cos{ \theta} \; {I}_{3} + (1 - \cos{ \theta}) \; u u^{T} + \sin{ \theta} \; [u]_\times \]

Definition at line 499 of file vpRotationMatrix.cpp.

References vpMath::mcosc(), and vpMath::sinc().

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpPoseVector p)

Build a rotation matrix from a pose vector.

See also
buildFrom(const vpThetaUVector &)

Definition at line 545 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpRzyzVector v)

Transform a vector representing the Euler angle into a rotation matrix. Rzyz( $ \phi, \theta , \psi $) = Rot( $ z,\phi $) Rot( $ y,\theta $) Rot( $ z,\psi $)

Definition at line 558 of file vpRotationMatrix.cpp.

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpRxyzVector v)

Transform a vector representing the Rxyz angle into a rotation matrix. Rxyz( $ \phi,\theta, \psi $) = Rot( $ x, \psi $) Rot( $ y, \theta $ ) Rot( $ z,\phi $)

Definition at line 592 of file vpRotationMatrix.cpp.

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpRzyxVector v)

Transform a vector representing the Rzyx angle into a rotation matrix. Rxyz( $ \phi, \theta , \psi $) = Rot( $ z, \psi $) Rot( $ y, \theta $)Rot( $ x, \phi $)

Definition at line 625 of file vpRotationMatrix.cpp.

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpQuaternionVector q)

Construct a 3-by-3 rotation matrix from a quaternion representation.

Definition at line 671 of file vpRotationMatrix.cpp.

References vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), and vpQuaternionVector::z().

vpRotationMatrix vpRotationMatrix::buildFrom ( const double  tux,
const double  tuy,
const double  tuz 
)

Construct a 3-by-3 rotation matrix from $ \theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ angle representation.

Definition at line 657 of file vpRotationMatrix.cpp.

References buildFrom().

void vpRotationMatrix::eye ( )

Initialize the rotation matrix as identity.

See also
setIdentity()

Definition at line 77 of file vpRotationMatrix.cpp.

Referenced by vpCalibration::calibrationTsai(), setIdentity(), and vpRotationMatrix().

vpColVector vpRotationMatrix::getCol ( const unsigned int  j) const

Extract a column vector from a rotation matrix.

Warning
All the indexes start from 0 in this function.
Parameters
j: Index of the column to extract. If j=0, the first column is extracted.
Returns
The extracted column vector.

The following example shows how to use this function:

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRotationMatrix.h>
int main()
{
vpColVector r = R.getCol(2);
std::cout << "Last column: \n" << r << std::endl;
}

It produces the following output:

Last column:
0
0
1

Definition at line 745 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpArray2D< double >::getCols(), and vpArray2D< double >::getRows().

double vpArray2D< double >::getMaxValue ( ) const
inherited

Return the array max value.

Examples:
servoMomentImage.cpp.
double vpArray2D< double >::getMinValue ( ) const
inherited

Return the array min value.

Examples:
servoMomentImage.cpp.
vpThetaUVector vpRotationMatrix::getThetaUVector ( )

Return the $\theta {\bf u}$ vector that corresponds to the rotation matrix.

Definition at line 710 of file vpRotationMatrix.cpp.

References vpThetaUVector::buildFrom().

vp_deprecated void vpRotationMatrix::init ( )
inline
Deprecated:
Provided only for compat with previous releases. This function does nothing.

Definition at line 150 of file vpRotationMatrix.h.

vpRotationMatrix vpRotationMatrix::inverse ( ) const

Return the rotation matrix inverse which is also the transpose of the rotation matrix.

See also
t()
Examples:
servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp.

Definition at line 445 of file vpRotationMatrix.cpp.

References t().

Referenced by vpViper::get_eJe(), and inverse().

void vpRotationMatrix::inverse ( vpRotationMatrix R) const

Inverse the rotation matrix.

Parameters
R(output): Inverted rotation matrix.
#include <visp3/core/vpRotationMatrix.h>
int main()
{
// ... Update rotation matrix R
// Compute the inverse in Rinv
R.inverse(Rinv);
}

Definition at line 470 of file vpRotationMatrix.cpp.

References inverse().

bool vpRotationMatrix::isARotationMatrix ( ) const

Test if the rotation matrix is really a rotation matrix.

Definition at line 305 of file vpRotationMatrix.cpp.

References vpMath::sqr(), and t().

Referenced by vpHomogeneousMatrix::isAnHomogeneousMatrix(), and operator=().

static bool vpArray2D< double >::load ( const std::string &  filename,
vpArray2D< double > &  A,
const bool  binary = false,
char *  header = NULL 
)
inlinestaticinherited

Load a matrix from a file.

Parameters
filename: Absolute file name.
A: Array to be loaded
binary: If true the matrix is loaded from a binary file, else from a text file.
header: Header of the file is loaded in this parameter.
Returns
Returns true if success.
See also
save()

Definition at line 308 of file vpArray2D.h.

References vpException::badValue, and vpArray2D< Type >::resize().

static bool vpArray2D< double >::loadYAML ( const std::string &  filename,
vpArray2D< double > &  A,
char *  header = NULL 
)
inlinestaticinherited

Load an array from a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be loaded from the file.
header: header of the file is loaded in this parameter.
Returns
Returns true on success.
See also
saveYAML()

Definition at line 392 of file vpArray2D.h.

References vpArray2D< Type >::resize().

vpTranslationVector vpRotationMatrix::operator* ( const vpTranslationVector tv) const

Multiply a rotation matrix by a translation vector and return the resulting translation vector.

Definition at line 255 of file vpRotationMatrix.cpp.

References vpArray2D< double >::rowPtrs.

vpRotationMatrix vpRotationMatrix::operator* ( const vpRotationMatrix R) const

Compute the product between two rotation matrices.

Definition at line 152 of file vpRotationMatrix.cpp.

References vpArray2D< double >::rowPtrs, and vpArray2D< Type >::rowPtrs.

vpMatrix vpRotationMatrix::operator* ( const vpMatrix M) const

Operator that allows to multiply a rotation matrix by a 3-by-3 matrix. Allows for example to multiply a rotation matrix by a skew matrix.

Exceptions
vpException::dimensionError: If M is not a 3-by-3 dimension matrix.

Definition at line 181 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

vpColVector vpRotationMatrix::operator* ( const vpColVector v) const

Operator that allows to multiply a rotation matrix by a 3 dimension column vector.

Parameters
v: Three dimension column vector.
Returns
The product of the rotation matrix by the column vector
Exceptions
vpException::dimensionErrorIf the column vector v is not a 3 dimension vector.

The code below shows how to use this operator.

#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpColVector.h>
int main()
{
vpColVector p1(3), p2(3);
p2 = R * p1;
return 0;
}

Definition at line 231 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

vpRotationMatrix vpRotationMatrix::operator* ( const double  x) const

Operator that allows to multiply all the elements of a rotation matrix by a scalar.

Definition at line 275 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

vpRotationMatrix & vpRotationMatrix::operator*= ( const double  x)

Operator that allows to multiply all the elements of a rotation matrix by a scalar.

Definition at line 290 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

vpRotationMatrix & vpRotationMatrix::operator= ( const vpRotationMatrix R)

Set the current rotation matrix from a rotation matrix R.

Parameters
R: Rotation matrix.

Definition at line 99 of file vpRotationMatrix.cpp.

References vpArray2D< double >::rowPtrs, and vpArray2D< Type >::rowPtrs.

vpRotationMatrix & vpRotationMatrix::operator= ( const vpMatrix M)

Converts a 3-by-3 matrix into a rotation matrix.

Parameters
M: Input matrix.
Exceptions
vpException::fatalErrorIf the input matrix is not a rotation matrix.
See also
isARotationMatrix()

Definition at line 126 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpException::fatalError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and isARotationMatrix().

double * vpArray2D< double >::operator[] ( unsigned int  i)
inlineinherited

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 259 of file vpArray2D.h.

double * vpArray2D< double >::operator[] ( unsigned int  i) const
inlineinherited

Get element $x = A_{ij}$ using x = A[i][j].

Definition at line 261 of file vpArray2D.h.

void vpRotationMatrix::printVector ( )

Print to std::cout the rotation matrix as a $ \theta {\bf u} $ angle representation vector.

Definition at line 479 of file vpRotationMatrix.cpp.

void vpRotationMatrix::resize ( const unsigned int  nrows,
const unsigned int  ncols,
const bool  flagNullify = true 
)
inline

This function is not applicable to a rotation matrix that is always a 3-by-3 matrix.

Exceptions
vpException::fatalErrorWhen this function is called.

Definition at line 129 of file vpRotationMatrix.h.

References vpException::fatalError.

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< double > &  A,
const bool  binary = false,
const char *  header = "" 
)
inlinestaticinherited

Save a matrix to a file.

Parameters
filename: Absolute file name.
A: Array to be saved.
binary: If true the matrix is saved in a binary file, else a text file.
header: Optional line that will be saved at the beginning of the file.
Returns
Returns true if success.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

See also
load()

Definition at line 468 of file vpArray2D.h.

References vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

static bool vpArray2D< double >::saveYAML ( const std::string &  filename,
const vpArray2D< double > &  A,
const char *  header = "" 
)
inlinestaticinherited

Save an array in a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be saved in the file.
header: optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.
Returns
Returns true if success.

Here is an example of outputs.

vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n - a YAML-formatted header\n - with inner indentation");

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]

Content of matrixIndent.yml:

example:
- a YAML-formatted header
- with inner indentation
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
See also
loadYAML()

Definition at line 560 of file vpArray2D.h.

References vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

void vpRotationMatrix::setIdentity ( )
Deprecated:
You should rather use eye().

Initializes the rotation matrix as identity.

See also
eye()

Definition at line 67 of file vpRotationMatrix.cpp.

References eye().

vpRotationMatrix vpRotationMatrix::t ( ) const

Return the rotation matrix transpose which is also the inverse of the rotation matrix.

See also
inverse()

Definition at line 428 of file vpRotationMatrix.cpp.

Referenced by vpCalibration::calibrationTsai(), vpVelocityTwistMatrix::extract(), inverse(), vpHomogeneousMatrix::inverse(), vpVelocityTwistMatrix::inverse(), isARotationMatrix(), and vpSimulatorAfma6::setPosition().

Friends And Related Function Documentation

enum vpGEMMmethod
related

Enumeration of the operations applied on matrices in vpGEMM() function.

Operations are :

  • VP_GEMM_A_T to use the transpose matrix of A instead of the matrix A
  • VP_GEMM_B_T to use the transpose matrix of B instead of the matrix B
  • VP_GEMM_C_T to use the transpose matrix of C instead of the matrix C

Definition at line 57 of file vpGEMM.h.

Member Data Documentation

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

Examples:
testDisplacement.cpp, testMatrix.cpp, testPoseVector.cpp, and testTranslationVector.cpp.

Definition at line 84 of file vpArray2D.h.

Referenced by vpMatrix::AtA(), vpHomogeneousMatrix::buildFrom(), vpRzyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpRxyzVector::buildFrom(), vpThetaUVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), vpTranslationVector::euclideanNorm(), vpRowVector::euclideanNorm(), vpColVector::euclideanNorm(), vpMatrix::euclideanNorm(), vpMatrix::expm(), vpThetaUVector::extract(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpTranslationVector::operator*(), vpRowVector::operator*(), vpColVector::operator*(), vpHomography::operator*(), vpTranslationVector::operator-(), vpRowVector::operator-(), vpColVector::operator-(), vpTranslationVector::operator/(), vpRowVector::operator/(), vpColVector::operator/(), vpHomography::operator/(), vpHomography::operator/=(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpRzyxVector::operator=(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpMatrix::operator=(), vpThetaUVector::operator=(), vpColVector::operator[](), vpRowVector::reshape(), vpColVector::reshape(), vpQuaternionVector::set(), vpMatrix::stackRows(), vpRotationVector::t(), vpTranslationVector::t(), vpPoseVector::t(), vpRowVector::t(), vpColVector::t(), vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), vpQuaternionVector::z(), vpSubColVector::~vpSubColVector(), vpSubMatrix::~vpSubMatrix(), and vpSubRowVector::~vpSubRowVector().

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 74 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpColVector::extract(), vpMatrix::eye(), vpColVector::infinityNorm(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::insert(), vpMatrix::inverseByCholesky(), vpMatrix::inverseByLU(), vpMatrix::inverseByQR(), operator*(), vpTranslationVector::operator*(), vpHomogeneousMatrix::operator*(), vpColVector::operator*(), vpMatrix::operator*(), operator*=(), vpTranslationVector::operator*=(), vpColVector::operator*=(), vpMatrix::operator*=(), vpColVector::operator+(), vpColVector::operator+=(), vpMatrix::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpMatrix::operator-=(), vpColVector::operator/(), vpMatrix::operator/(), vpTranslationVector::operator/=(), vpColVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpColVector::reshape(), vpMatrix::setIdentity(), vpMatrix::stack(), vpColVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpMatrix::sum(), vpRotationVector::sumSquare(), vpTranslationVector::sumSquare(), vpColVector::sumSquare(), vpMatrix::sumSquare(), vpTranslationVector::t(), vpPoseVector::t(), vpColVector::t(), vpMatrix::t(), and vpMatrix::transpose().