vpTranslationVector.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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
 *
 *****************************************************************************/



#ifndef vpTRANSLATIONVECTOR_H
#define vpTRANSLATIONVECTOR_H

#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpPoseVector.h>


class VISP_EXPORT vpTranslationVector : public vpArray2D<double>
{
public:

  vpTranslationVector() : vpArray2D<double>(3, 1) {};
  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;

  // operators

  // translation vectors additions  c = a + b (a, b  unchanged)
  vpTranslationVector operator+(const vpTranslationVector &tv) const ;
  // translation vectors substraction  c = a - b (a, b  unchanged)
  vpTranslationVector operator-(const vpTranslationVector &tv) const ;
  // negate t = -a  (t is unchanged)
  vpTranslationVector operator-() const ;
  vpMatrix  operator*(const vpRowVector &v) const;
  // b = x * a (x=scalar)
  vpTranslationVector operator*(const double x) const;
  vpTranslationVector & operator*=(double x);
  vpTranslationVector operator/(const double x) const;
  vpTranslationVector & operator/=(double x);
  // Copy operator.   Allow operation such as A = v
  vpTranslationVector &operator=(const vpTranslationVector &tv);

  vpTranslationVector &operator=(double x) ;

  inline double &operator [](unsigned int n) {  return *(data + n);  }
  inline const double &operator [](unsigned int n) const { return *(data+n);  }

  void resize(const unsigned int nrows, const unsigned int ncols,
              const bool flagNullify = true)
  {
    (void)nrows;
    (void)ncols;
    (void)flagNullify;
    throw(vpException(vpException::fatalError, "Cannot resize a translation vector"));
  };

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

  // Skew Symmetric matrix
  vpMatrix skew() const ;

  double sumSquare() const;

  vpRowVector t() const;

  static vpTranslationVector cross(const vpTranslationVector &a,
                                   const vpTranslationVector &b) ;
  static vpMatrix skew(const vpTranslationVector &tv) ;
  static void skew(const  vpTranslationVector &tv, vpMatrix &M) ;
} ;

#endif