Visual Servoing Platform  version 3.0.0
vpRotationVector.cpp
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29  *
30  * Description:
31  * Generic rotation vector (cannot be used as is !).
32  *
33  * Authors:
34  * Eric Marchand
35  *
36  *****************************************************************************/
37 
38 #include <algorithm>
39 #include <math.h>
40 
41 #include <visp3/core/vpRotationVector.h>
42 #include <visp3/core/vpColVector.h>
43 #include <visp3/core/vpRowVector.h>
44 
58 {
59  vpRowVector v(dsize);
60 
61  for (unsigned int i=0; i< dsize; i++)
62  v[i] = data[i];
63 
64  return v;
65 }
66 
77 {
78  vpColVector v(dsize);
79 
80  for (unsigned int i=0;i<dsize;i++)
81  v[i] = (*this)[i] * x;
82  return v;
83 }
84 
89 vpColVector operator*(const double &x,const vpRotationVector &v)
90 {
91  vpColVector vout ;
92  vout = v*x ;
93  return vout ;
94 }
95 
102 {
103  double sum_square=0.0;
104  double x ;
105 
106  for (unsigned int i=0;i<rowNum;i++) {
107  x=rowPtrs[i][0];
108  sum_square += x*x;
109  }
110 
111  return sum_square;
112 }
Implementation of a generic rotation vector.
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:70
vpRowVector t() const
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:84
unsigned int rowNum
Number of rows in the array.
Definition: vpArray2D.h:74
vpColVector operator*(double x) const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
double sumSquare() const
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:80
vpColVector operator*(const double &x, const vpRotationVector &v)
double ** rowPtrs
Address of the first element of each rows.
Definition: vpArray2D.h:78