#include <visp3/core/vpTranslationVector.h>

Inheritance diagram for vpTranslationVector:

Public Member Functions
	vpTranslationVector ()

	vpTranslationVector (const double tx, const double ty, const double tz)

	vpTranslationVector (const vpTranslationVector &tv)

	vpTranslationVector (const vpHomogeneousMatrix &M)

	vpTranslationVector (const vpPoseVector &p)

vpTranslationVector	buildFrom (const double tx, const double ty, const double tz)

vpTranslationVector	buildFrom (const vpHomogeneousMatrix &M)

vpTranslationVector	buildFrom (const vpPoseVector &p)

double	euclideanNorm () const

vpTranslationVector	operator+ (const vpTranslationVector &tv) const

vpTranslationVector	operator- (const vpTranslationVector &tv) const

vpTranslationVector	operator- () const

vpMatrix	operator* (const vpRowVector &v) const

vpTranslationVector	operator* (const double x) const

vpTranslationVector &	operator*= (double x)

vpTranslationVector	operator/ (const double x) const

vpTranslationVector &	operator/= (double x)

vpTranslationVector &	operator= (const vpTranslationVector &tv)

vpTranslationVector &	operator= (double x)

double &	operator[] (unsigned int n)

const double &	operator[] (unsigned int n) const

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

void	set (const double tx, const double ty, const double tz)

vpMatrix	skew () const

double	sumSquare () const

vpRowVector	t () const

Inherited functionalities from vpArray2D
double	getMinValue () const

double	getMaxValue () const

unsigned int	getRows () const

unsigned int	getCols () const

unsigned int	size () const

Static Public Member Functions
static vpTranslationVector	cross (const vpTranslationVector &a, const vpTranslationVector &b)

static vpMatrix	skew (const vpTranslationVector &tv)

static void	skew (const vpTranslationVector &tv, vpMatrix &M)

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

Class that consider the case of a translation vector.

Let us denote $^{a}{\bf t}_{b} = [t_x,t_y,t_z]^\top$ the translation from frame $ a $ to frame $ b $ . The representation of a translation is a column vector of dimension 3.

Translations are expressed in meters.

The code below shows how to use a translation vector to build an homogeneous matrix.

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpTranslationVector.h>
int main()
{
  vpTranslationVector t; // Translation vector 
  // Initialization of the translation vector
  t[0] =  0.2; // tx = 0.2 meters
  t[1] = -0.1; // ty = -0.1 meters
  t[2] =  1.0; // tz = 1 meters
  // Construction of a rotation matrix
  vpRotationMatrix R; // Set to identity by default
  // Construction of an homogeneous matrix
  vpHomogeneousMatrix M(t, R);
}

Examples:: calibrateTsai.cpp, exponentialMap.cpp, HelloWorldOgre.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuSphere.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testDisplacement.cpp, testPoseVector.cpp, testRobotAfma6Pose.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTranslationVector.cpp, testTwistMatrix.cpp, testViper850.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 93 of file vpTranslationVector.h.

Constructor & Destructor Documentation

vpTranslationVector::vpTranslationVector ( )

inline

Default constructor. The translation vector is initialized to zero.

Definition at line 101 of file vpTranslationVector.h.

vpTranslationVector::vpTranslationVector	(	const double	tx,
		const double	ty,
		const double	tz
	)

Construct a translation vector $\bf t$ from 3 doubles.

Parameters

tx,ty,tz : Translation respectively along x, y and z axis. Values are in meters.

Definition at line 56 of file vpTranslationVector.cpp.

vpTranslationVector::vpTranslationVector ( const vpTranslationVector & tv )

Copy constructor.

Parameters

tv	: Translation vector to copy.

vpTranslationVector t1(1,2,3); // Create and initialize a translation vector
vpTranslationVector t2(t1);    // t2 is now a copy of t1

Definition at line 104 of file vpTranslationVector.cpp.

vpTranslationVector::vpTranslationVector ( const vpHomogeneousMatrix & M )

Construct a translation vector $\bf t$ from the translation contained in an homogeneous matrix.

Parameters

M	: Homogeneous matrix where translations are in meters.

Definition at line 71 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

vpTranslationVector::vpTranslationVector ( const vpPoseVector & p )

Construct a translation vector $\bf t$ from the translation contained in a pose vector.

Parameters

p	: Pose vector where translations are in meters.

Definition at line 84 of file vpTranslationVector.cpp.

Member Function Documentation

vpTranslationVector vpTranslationVector::buildFrom	(	const double	tx,
		const double	ty,
		const double	tz
	)

Build a 3 dimension translation vector $\bf t$ from 3 doubles.

Parameters

tx,ty,tz : Translation respectively along x, y and z axis in meter.

Returns: The build pose vector.

See also: set()

Definition at line 154 of file vpTranslationVector.cpp.

References set().

vpTranslationVector vpTranslationVector::buildFrom ( const vpHomogeneousMatrix & M )

Build a 3 dimension translation vector $\bf t$ from an homogeneous matrix $\bf M$ .

Parameters

M	: Homogeneous matrix $\bf M$ from which translation $\bf t$ and $\theta \bf u$ vectors are extracted to initialize the pose vector.

Returns: The build pose vector.

Definition at line 121 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

vpTranslationVector vpTranslationVector::buildFrom ( const vpPoseVector & p )

Build a 3 dimension translation vector $\bf t$ from the translation contained in a pose vector.

Parameters

p	: Pose vector where translations are in meters.

Returns: The build pose vector.

Definition at line 137 of file vpTranslationVector.cpp.

vpTranslationVector vpTranslationVector::cross	(	const vpTranslationVector &	a,
		const vpTranslationVector &	b
	)

static

Return the cross product of two translation vectors $a \times b$ .

Parameters

a,b	: Translation vectors in input.

Returns: The cross product of two translation vectors $a \times b$ .

Examples:: testTranslationVector.cpp.

Definition at line 492 of file vpTranslationVector.cpp.

References skew().

double vpTranslationVector::euclideanNorm ( ) const

Compute and return the Euclidean norm of the translation vector $||x|| = \sqrt{ \sum{t_{i}^2}}$ .

Returns: The Euclidean norm if the vector is initialized, 0 otherwise.

Definition at line 516 of file vpTranslationVector.cpp.

References vpArray2D< double >::data, and vpArray2D< double >::dsize.

unsigned int vpArray2D< double >::getCols ( ) const

inlineinherited

Return the number of columns of the 2D array.

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, and testTranslationVector.cpp.

Definition at line 154 of file vpArray2D.h.

References vpArray2D< Type >::colNum.

Referenced by vpMatrix::csvPrint(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), vpMatrix::maplePrint(), vpRowVector::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpRowVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), and vpMatrix::svd().

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.

unsigned int vpArray2D< double >::getRows ( ) const

inlineinherited

Return the number of rows of the 2D array.

Examples:: testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, and testTranslationVector.cpp.

Definition at line 152 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpMatrix::cppPrint(), vpMatrix::csvPrint(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), vpMatrix::maplePrint(), vpMatrix::matlabPrint(), vpColVector::operator+(), vpColVector::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpPoseVector::print(), vpColVector::print(), vpMatrix::print(), and vpMatrix::pseudoInverse().

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().

vpMatrix vpTranslationVector::operator* ( const vpRowVector & v ) const

Multiply a 3-by-1 dimension translation vector by a 1-by-n row vector.

Parameters

v	: Row vector.

Returns: The resulting matrix that is 3-by-n dimension.

Definition at line 288 of file vpTranslationVector.cpp.

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

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

Operator that allows to multiply each element of a translation vector by a scalar.

Parameters

x	: The scalar.

Returns: The translation vector multiplied by the scalar. The current translation vector (*this) is unchanged.

vpTranslationVector t1(1,2,3); 
t2 = t1 * 3;
// t1 is unchanged 
// t2 is now equal to : [3, 6, 9]

Definition at line 269 of file vpTranslationVector.cpp.

References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::dsize.

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

Operator that allows to multiply each element of a translation vector by a scalar.

Parameters

x	: The scalar.

Returns: The translation vector multiplied by the scalar.

Definition at line 306 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

vpTranslationVector vpTranslationVector::operator+ ( const vpTranslationVector & tv ) const

Operator that allows to add two translation vectors.

Parameters

tv	: Translation vector to add.

Returns: The sum of the current translation vector (*this) and the one to add.
vpTranslationVector t1(1,2,3);

vpTranslationVector t2(4,5,6);

vpTranslationVector t3;

t3 = t2 + t1;

// t1 and t2 leave unchanged

// t3 is now equal to : 5, 7, 9

Definition at line 192 of file vpTranslationVector.cpp.

vpTranslationVector vpTranslationVector::operator- ( const vpTranslationVector & tv ) const

Operator that allows to substract two translation vectors.

Parameters

tv	: Translation vector to substract.

Returns: The substraction of the current translation vector (*this) and the one to substract.
vpTranslationVector t1(1,2,3);

vpTranslationVector t2(4,5,6);

vpTranslationVector t3;

t3 = t2 - t1;

// t1 and t2 leave unchanged

// t3 is now equal to : 3, 3, 3

Definition at line 219 of file vpTranslationVector.cpp.

vpTranslationVector vpTranslationVector::operator- ( void ) const

Operator that allows to negate a translation vector.

Returns: The negate translation. The current translation vector (*this) is unchanged.

vpTranslationVector t1(1,2,3); 
vpTranslationVector t2; 
t2 = -t1;
// t1 is unchanged 
// t2 is now equal to : [-1, -2, -3]

Definition at line 243 of file vpTranslationVector.cpp.

References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::dsize.

vpTranslationVector vpTranslationVector::operator/ ( const double x ) const

Operator that allows to divide each element of a translation vector by a scalar.

Parameters

x	: The scalar.

Returns: The translation vector divided by the scalar. The current translation vector (*this) is unchanged.

vpTranslationVector t1(8,4,2);
t2 = t1 / 2;
// t1 is unchanged
// t2 is now equal to : [4, 2, 1]

Definition at line 341 of file vpTranslationVector.cpp.

References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::dsize.

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

Operator that allows to divide each element of a translation vector by a scalar.

Parameters

x	: The scalar.

Returns: The column vector divided by the scalar.

Definition at line 319 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

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

Copy operator.

Parameters

tv	: Translation vector to copy

Returns: A copy of tv.

vpTranslationVector t1(1,2,3); 
vpTranslationVector t2; 
t2 = t1;
// t1 is unchanged 
// t2 is now equal to t1 : 1, 2, 3 

Definition at line 364 of file vpTranslationVector.cpp.

References vpArray2D< double >::data, vpArray2D< Type >::data, resize(), vpArray2D< Type >::rowNum, and vpArray2D< double >::rowNum.

vpTranslationVector & vpTranslationVector::operator= ( double x )

Initialize each element of a translation vector to the same value x.

Parameters

x	: Value to set for each element of the translation vector.

vpTranslationVector t;
t = 3;
// Here t is set to 3,3,3

Definition at line 393 of file vpTranslationVector.cpp.

References vpArray2D< double >::data.

double& vpTranslationVector::operator[] ( unsigned int n )

inline

Operator that allows to set a value of an element $t_i$ : t[i] = x.

Definition at line 133 of file vpTranslationVector.h.

const double& vpTranslationVector::operator[] ( unsigned int n ) const

inline

Operator that allows to get the value of an element $t_i$ : x = t[i].

Definition at line 135 of file vpTranslationVector.h.

void vpTranslationVector::resize	(	const unsigned int	nrows,
		const unsigned int	ncols,
		const bool	flagNullify = `true`
	)

inline

This function is not applicable to a translation vector that is always a 3-by-1 column vector.

Exceptions

vpException::fatalError When this function is called.

Definition at line 142 of file vpTranslationVector.h.

References vpException::fatalError.

Referenced by operator=().

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<double> M(3,4);
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
data:
  - [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
data:
    - [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 vpTranslationVector::set	(	const double	tx,
		const double	ty,
		const double	tz
	)

Initialize a translation vector from 3 doubles.

Parameters

tx,ty,tz : Translation respectively along x, y and z axis in meter.

Examples:: testTranslationVector.cpp.

Definition at line 167 of file vpTranslationVector.cpp.

Referenced by buildFrom(), and vpPioneerPan::set_mMp().

unsigned int vpArray2D< double >::size ( ) const

inlineinherited

Return the number of elements of the 2D array.

Examples:: testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testPoseVector.cpp, testRowVector.cpp, testTranslationVector.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 156 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpRowVector::insert(), vpColVector::insert(), and vpColVector::operator*().

vpMatrix vpTranslationVector::skew ( ) const

Compute the skew symmetric matrix $M$ of the translation vector (matrice de pre-produit vectoriel), where

$M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right)$

and where $(t_x,t_y,t_z)$ are the coordinates of the translation vector.

Returns: Skew symmetric matrix of the translation vector.

Examples:: testTranslationVector.cpp.

Definition at line 474 of file vpTranslationVector.cpp.

Referenced by vpForceTwistMatrix::buildFrom(), vpVelocityTwistMatrix::buildFrom(), cross(), vpViper::get_eJe(), and skew().

vpMatrix vpTranslationVector::skew ( const vpTranslationVector & tv )

static

Compute the skew symmetric matrix $M$ of translation vector tv.

$\mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z \end{array}\right), \quad \mbox{then} \qquad M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right)$

Parameters

tv	: Translation vector in input.

Returns: Skew symmetric matrix of translation vector .

Definition at line 448 of file vpTranslationVector.cpp.

References skew().

void vpTranslationVector::skew	(	const vpTranslationVector &	tv,
		vpMatrix &	M
	)

static

Compute the skew symmetric matrix $M$ of translation vector tv.

$\mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z \end{array}\right), \quad \mbox{then} \qquad M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right)$

Parameters