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vpColVector Class Reference
Matrices and vectors

#include <visp3/core/vpColVector.h>

+ Inheritance diagram for vpColVector:

Public Member Functions

 vpColVector ()
 
 vpColVector (unsigned int n)
 
 vpColVector (unsigned int n, double val)
 
 vpColVector (const vpColVector &v)
 
 vpColVector (const vpColVector &v, unsigned int r, unsigned int nrows)
 
 vpColVector (const vpRotationVector &v)
 
 vpColVector (const vpPoseVector &p)
 
 vpColVector (const vpTranslationVector &t)
 
 vpColVector (const vpMatrix &M)
 
 vpColVector (const vpMatrix &M, unsigned int j)
 
 vpColVector (const std::vector< double > &v)
 
 vpColVector (const std::vector< float > &v)
 
virtual ~vpColVector ()
 
void clear ()
 
std::ostream & cppPrint (std::ostream &os, const std::string &matrixName="A", bool octet=false) const
 
std::ostream & csvPrint (std::ostream &os) const
 
void deg2rad ()
 
double euclideanNorm () const
 
vpColVector extract (unsigned int r, unsigned int colsize) const
 
double infinityNorm () const
 
void init (const vpColVector &v, unsigned int r, unsigned int nrows)
 
void insert (unsigned int i, const vpColVector &v)
 
void insert (const vpColVector &v, unsigned int i)
 
std::ostream & maplePrint (std::ostream &os) const
 
std::ostream & matlabPrint (std::ostream &os) const
 
vpColVector & normalize ()
 
vpColVector & normalize (vpColVector &x) const
 
double & operator[] (unsigned int n)
 
const double & operator[] (unsigned int n) const
 
vpColVector & operator= (const vpColVector &v)
 
vpColVector & operator= (const vpPoseVector &p)
 
vpColVector & operator= (const vpRotationVector &rv)
 
vpColVector & operator= (const vpTranslationVector &tv)
 
vpColVector & operator= (const vpMatrix &M)
 
vpColVector & operator= (const std::vector< double > &v)
 
vpColVector & operator= (const std::vector< float > &v)
 
vpColVector & operator= (double x)
 
double operator* (const vpColVector &x) const
 
vpMatrix operator* (const vpRowVector &v) const
 
vpColVector operator* (const double x) const
 
vpColVector & operator*= (double x)
 
vpColVector operator/ (const double x) const
 
vpColVector & operator/= (double x)
 
vpColVector operator+ (const vpColVector &v) const
 
vpTranslationVector operator+ (const vpTranslationVector &t) const
 
vpColVector & operator+= (vpColVector v)
 
vpColVector operator- (const vpColVector &v) const
 
vpColVector & operator-= (vpColVector v)
 
vpColVector operator- () const
 
vpColVector & operator<< (const vpColVector &v)
 
vpColVector & operator<< (double *)
 
int print (std::ostream &s, unsigned int length, char const *intro=0) const
 
void rad2deg ()
 
void reshape (vpMatrix &M, const unsigned int &nrows, const unsigned int &ncols)
 
vpMatrix reshape (const unsigned int &nrows, const unsigned int &ncols)
 
void resize (const unsigned int i, const bool flagNullify=true)
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify)
 
void stack (const double &d)
 
void stack (const vpColVector &v)
 
double sum () const
 
double sumSquare () const
 
vpRowVector t () const
 
vpRowVector transpose () const
 
void transpose (vpRowVector &v) 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 vpColVector cross (const vpColVector &a, const vpColVector &b)
 
static vpColVector crossProd (const vpColVector &a, const vpColVector &b)
 
static double dotProd (const vpColVector &a, const vpColVector &b)
 
static vpColVector invSort (const vpColVector &v)
 
static double median (const vpColVector &v)
 
static double mean (const vpColVector &v)
 
static vpMatrix skew (const vpColVector &v)
 
static vpColVector sort (const vpColVector &v)
 
static vpColVector stack (const vpColVector &A, const vpColVector &B)
 
static void stack (const vpColVector &A, const vpColVector &B, vpColVector &C)
 
static double stdev (const vpColVector &v, const bool useBesselCorrection=false)
 
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
 

Friends

class vpMatrix
 

Related Functions

(Note that these are not member functions.)

vpColVector operator* (const double &x, const vpColVector &v)
 
enum  vpGEMMmethod
 

Deprecated functions

vp_deprecated void init ()
 
vp_deprecated vpColVector rows (unsigned int first_row, unsigned int last_row) const
 
vp_deprecated void setIdentity (const double &val=1.0)
 
vp_deprecated void stackMatrices (const vpColVector &r)
 
vp_deprecated void insert (const vpColVector &v, const unsigned int r, const unsigned int c=0)
 
static vp_deprecated vpColVector stackMatrices (const vpColVector &A, const vpColVector &B)
 
static vp_deprecated void stackMatrices (const vpColVector &A, const vpColVector &B, vpColVector &C)
 

Detailed Description

Implementation of column vector and the associated operations.

This class provides a data structure for a column vector that contains values of double. It contains also some functions to achieve a set of operations on these vectors.

The vpColVector class is derived from vpArray2D<double>.

Examples:
calibrateTsai.cpp, exponentialMap.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, moveAfma4.cpp, moveBiclops.cpp, movePioneer.cpp, movePtu46.cpp, photometricVisualServoing.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, sonarPioneerReader.cpp, templateTracker.cpp, testColVector.cpp, testComedi.cpp, testDisplacement.cpp, testFeatureSegment.cpp, testForceTorqueAti.cpp, testImageFilter.cpp, testImageResize.cpp, testKalmanAcceleration.cpp, testKalmanVelocity.cpp, testMatrix.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testSvd.cpp, testThread2.cpp, testTwistMatrix.cpp, testViper650.cpp, testViper850.cpp, testVirtuose.cpp, testVirtuoseAfma6.cpp, testVirtuoseHapticBox.cpp, testVirtuoseJointLimits.cpp, testVirtuosePeriodicFunction.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-image-simulator.cpp, tutorial-pioneer-robot.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, and tutorial-template-tracker.cpp.

Definition at line 72 of file vpColVector.h.

Constructor & Destructor Documentation

vpColVector::vpColVector ( )
inline

Basic constructor that creates an empty 0-size column vector.

Definition at line 78 of file vpColVector.h.

vpColVector::vpColVector ( unsigned int  n)
inline

Construct a column vector of size n. All the elements are initialized to zero.

Definition at line 80 of file vpColVector.h.

vpColVector::vpColVector ( unsigned int  n,
double  val 
)
inline

Construct a column vector of size n. Each element is set to val.

Definition at line 82 of file vpColVector.h.

vpColVector::vpColVector ( const vpColVector &  v)
inline

Copy constructor that allows to construct a column vector from an other one.

Definition at line 84 of file vpColVector.h.

vpColVector::vpColVector ( const vpColVector &  v,
unsigned int  r,
unsigned int  nrows 
)

Construct a column vector from a part of an input column vector v.

Parameters
v: Input column vector used for initialization.
r: row index in v that corresponds to the first element of the column vector to contruct.
nrows: Number of rows of the constructed column vector.

The sub-vector starting from v[r] element and ending on v[r+nrows-1] element is used to initialize the contructed column vector.

See Also
init()

Definition at line 213 of file vpColVector.cpp.

References init().

vpColVector::vpColVector ( const vpRotationVector &  v)

Constructor that initialize a column vector from a 3-dim (Euler or $\theta {\bf u}$) or 4-dim (quaternion) rotation vector.

Definition at line 271 of file vpColVector.cpp.

References vpArray2D< Type >::size().

vpColVector::vpColVector ( const vpPoseVector &  p)

Constructor that initialize a column vector from a 6-dim pose vector.

Definition at line 278 of file vpColVector.cpp.

References vpArray2D< Type >::size().

vpColVector::vpColVector ( const vpTranslationVector &  t)

Constructor that initialize a column vector from a 3-dim translation vector.

Definition at line 285 of file vpColVector.cpp.

References vpArray2D< Type >::size().

vpColVector::vpColVector ( const vpMatrix &  M)

Constructor that creates a column vector from a m-by-1 matrix M.

Exceptions
vpException::dimensionErrorIf the matrix is not a m-by-1 matrix.

Definition at line 305 of file vpColVector.cpp.

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

vpColVector::vpColVector ( const vpMatrix &  M,
unsigned int  j 
)

Constructor that take column j of matrix M.

Definition at line 293 of file vpColVector.cpp.

References vpArray2D< Type >::getCols().

vpColVector::vpColVector ( const std::vector< double > &  v)

Constructor that creates a column vector from a std vector of double.

Definition at line 321 of file vpColVector.cpp.

vpColVector::vpColVector ( const std::vector< float > &  v)

Constructor that creates a column vector from a std vector of float.

Definition at line 330 of file vpColVector.cpp.

virtual vpColVector::~vpColVector ( )
inlinevirtual

Destructor.

Definition at line 100 of file vpColVector.h.

Member Function Documentation

void vpColVector::clear ( )
inline

Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.

Examples:
testColVector.cpp.

Definition at line 106 of file vpColVector.h.

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

Referenced by vpMbTracker::createCylinderBBox().

std::ostream & vpColVector::cppPrint ( std::ostream &  os,
const std::string &  matrixName = "A",
bool  octet = false 
) const

Print to be used as part of a C++ code later.

Parameters
os: the stream to be printed in.
matrixName: name of the column vector, "A" by default.
octet: if false, print using double, if true, print byte per byte each bytes of the double array.

The following code shows how to use this function:

#include <visp3/core/vpColVector.h>
int main()
{
vpColVector v(3);
for (unsigned int i=0; i<v.size(); i++)
v[i] = i;
v.cppPrint(std::cout, "v");
}

It produces the following output that could be copy/paste in a C++ code:

vpColVector v (3);
v[0] = 0;
v[1] = 1;
v[2] = 2;

Definition at line 1502 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

static vpColVector vpColVector::cross ( const vpColVector &  a,
const vpColVector &  b 
)
inlinestatic

Compute and return the cross product of two 3-dimension vectors: $a \times b$.

Parameters
a: 3-dimension column vector.
b: 3-dimension column vector.
Returns
The cross product $a \times b$.
Exceptions
vpException::dimensionErrorIf the vectors dimension is not equal to 3.

Definition at line 266 of file vpColVector.h.

Referenced by vpMbtDistanceLine::buildFrom(), vpPlane::init(), and vpPose::poseDementhonNonPlan().

vpColVector vpColVector::crossProd ( const vpColVector &  a,
const vpColVector &  b 
)
static

Compute and return the cross product of two vectors $a \times b$.

Parameters
a: 3-dimension column vector.
b: 3-dimension column vector.
Returns
The cross product $a \times b$.
Exceptions
vpException::dimensionErrorIf the vectors dimension is not equal to 3.

Definition at line 1104 of file vpColVector.cpp.

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

Referenced by vpMbTracker::addPolygon(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), and vpImageSimulator::setCameraPosition().

std::ostream & vpColVector::csvPrint ( std::ostream &  os) const

Print/save a column vector in csv format.

The following code

#include <visp3/core/vpColVector.h>
int main()
{
std::ofstream ofs("log.csv", std::ofstream::out);
vpColVector v(3);
for (unsigned int i=0; i<v.size(); i++)
v[i] = i;
v.csvPrint(ofs);
ofs.close();
}

produces log.csv file that contains:

0
1
2

Definition at line 1552 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

void vpColVector::deg2rad ( )
inline

Convert a column vector containing angles in degrees into radians.

See Also
rad2deg()

Definition at line 127 of file vpColVector.h.

Referenced by vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpRobotViper650::init(), vpRobotViper850::init(), vpSimulatorViper850::readPosFile(), vpRobotViper650::readPosFile(), vpRobotViper850::readPosFile(), vpRobotPtu46::readPositionFile(), vpRobotBiclops::readPositionFile(), vpRobotViper650::setPosition(), and vpRobotViper850::setPosition().

double vpColVector::dotProd ( const vpColVector &  a,
const vpColVector &  b 
)
static

Compute end return the dot product of two column vectors:

\[ a \cdot b = \sum_{i=0}^n a_i * b_i\]

where n is the dimension of both vectors.

Exceptions
vpException::dimensionErrorIf the vector dimension differ.

Definition at line 713 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::dimensionError, vpException::fatalError, vpArray2D< Type >::getRows(), and vpArray2D< Type >::size().

Referenced by vpPose::calculArbreDementhon(), vpMbtPolygon::isVisible(), vpPose::poseDementhonPlan(), and vpImageSimulator::setCameraPosition().

double vpColVector::euclideanNorm ( ) const

Compute and return the Euclidean norm $ ||x|| = \sqrt{ \sum{v_{i}^2}} $.

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

Definition at line 1438 of file vpColVector.cpp.

References sumSquare().

Referenced by vpServo::computeProjectionOperators(), vpMbTracker::createCylinderBBox(), and vpSimulatorAfma6::setPosition().

vpColVector vpColVector::extract ( unsigned int  r,
unsigned int  colsize 
) const
inline

Extract a sub-column vector from a column vector.

Parameters
r: Index of the row corresponding to the first element of the vector to extract.
colsize: Size of the vector to extract.
Exceptions
vpException::fatalErrorIf the vector to extract is not contained in the original one.
vpColVector v1;
for (unsigned int i=0; i<4; i++)
v1.stack(i);
// v1 is equal to [0 1 2 3]^T
vpColVector v2 = v1.extract(1, 3);
// v2 is equal to [1 2 3]^T
Examples:
testColVector.cpp, and testForceTorqueAti.cpp.

Definition at line 149 of file vpColVector.h.

References vpException::fatalError, and vpArray2D< double >::rowNum.

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 vpRowVector::csvPrint(), vpMatrix::csvPrint(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), vpRowVector::maplePrint(), vpMatrix::maplePrint(), vpRowVector::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpRowVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::row(), 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::column(), cppPrint(), vpMatrix::cppPrint(), csvPrint(), vpMatrix::csvPrint(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByQRLapack(), vpMatrix::kernel(), maplePrint(), vpMatrix::maplePrint(), matlabPrint(), vpMatrix::matlabPrint(), operator+(), operator+=(), operator-(), operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpPoseVector::print(), print(), vpMatrix::print(), and vpMatrix::pseudoInverse().

double vpColVector::infinityNorm ( ) const

Compute and return the infinity norm $ {||x||}_{\infty} = max\left({\mid x_{i} \mid}\right) $ with $i \in \{0, ..., m-1\}$ where m is the vector size and $x_i$ an element of the vector.

Returns
The infinity norm if the matrix is initialized, 0 otherwise.
See Also
euclideanNorm()

Definition at line 1461 of file vpColVector.cpp.

References vpArray2D< double >::rowNum.

void vpColVector::init ( const vpColVector &  v,
unsigned int  r,
unsigned int  nrows 
)

Initialize the column vector from a part of an input column vector v.

Parameters
v: Input column vector used for initialization.
r: row index in v that corresponds to the first element of the column vector to contruct.
nrows: Number of rows of the constructed column vector.

The sub-vector starting from v[r] element and ending on v[r+nrows-1] element is used to initialize the contructed column vector.

The following code shows how to use this function:

#include <visp3/core/vpColVector.h>
int main()
{
vpColVector v(4);
int val = 0;
for(size_t i=0; i<v.getRows(); i++) {
v[i] = val++;
}
std::cout << "v: " << v.t() << std::endl;
vpColVector w;
w.init(v, 0, 2);
std::cout << "w: " << w.t() << std::endl;
}

It produces the following output:

v: 0 1 2 3
w: 1 2
Examples:
testColVector.cpp.

Definition at line 255 of file vpColVector.cpp.

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

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

Definition at line 295 of file vpColVector.h.

Referenced by vpColVector(), and vpSubColVector::vpSubColVector().

void vpColVector::insert ( unsigned int  i,
const vpColVector &  v 
)

Insert a column vector.

Parameters
i: Index of the first element to introduce. This index starts from 0.
v: Column vector to insert.

The following example shows how to use this function:

#include <visp3/core/vpColVector.h>
int main()
{
vpColVector v(4);
for (unsigned int i=0; i < v.size(); i++)
v[i] = i;
std::cout << "v: " << v.t() << std::endl;
vpColVector w(2);
for (unsigned int i=0; i < w.size(); i++)
w[i] = i+10;
std::cout << "w: " << w.t() << std::endl;
v.insert(1, w);
std::cout << "v: " << v.t() << std::endl;
}

It produces the following output:

v: 0 1 2 3
w: 10 11
v: 0 10 11 3
Examples:
testVirtuoseAfma6.cpp.

Definition at line 1236 of file vpColVector.cpp.

References vpException::dimensionError, vpArray2D< Type >::size(), and vpArray2D< double >::size().

Referenced by insert().

void vpColVector::insert ( const vpColVector &  v,
unsigned int  i 
)
void vpColVector::insert ( const vpColVector &  v,
const unsigned int  r,
const unsigned int  c = 0 
)
Deprecated:
You should rather use insert(unsigned int, const vpColVector &).

Insert column vector v at the given position r in the current column vector.

Warning
Throw vpMatrixException::incorrectMatrixSizeError if the dimensions of the matrices do not allow the operation.
Parameters
v: The column vector to insert.
r: The index of the row to begin to insert data.
c: Not used.

Definition at line 1660 of file vpColVector.cpp.

References insert().

vpColVector vpColVector::invSort ( const vpColVector &  v)
static

Return a column vector with elements of v that are reverse sorted.

See Also
sort()

Definition at line 779 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::fatalError, and vpArray2D< Type >::getRows().

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 417 of file vpArray2D.h.

References vpArray2D< Type >::resize().

std::ostream & vpColVector::maplePrint ( std::ostream &  os) const

Print using Maple syntax, to copy/paste in Maple later.

The following code

#include <visp3/core/vpColVector.h>
int main()
{
vpColVector v(3);
for (unsigned int i=0; i<v.size(); i++)
v[i] = i;
std::cout << "v = "; v.maplePrint(std::cout);
}

produces this output:

v = ([
[0, ],
[1, ],
[2, ],
])

that could be copy/paste in Maple.

Definition at line 1587 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

std::ostream & vpColVector::matlabPrint ( std::ostream &  os) const

Print using Matlab syntax, to copy/paste in Matlab later.

The following code

#include <visp3/core/vpColVector.h>
int main()
{
vpColVector v(3);
for (unsigned int i=0; i<v.size(); i++)
v[i] = i;
std::cout << "v = "; v.matlabPrint(std::cout);
}

produces this output:

v = [ 0, ;
1, ;
2, ]

that could be copy/paste in Matlab:

>> v = [ 0, ;
1, ;
2, ]
v =
0
1
2
>>

Definition at line 1635 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

double vpColVector::mean ( const vpColVector &  v)
static

Compute the mean value of all the elements of the vector.

Examples:
testColVector.cpp.

Definition at line 964 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::fatalError, vpArray2D< Type >::getRows(), and sum().

Referenced by stdev().

double vpColVector::median ( const vpColVector &  v)
static

Compute the median value of all the elements of the vector.

Examples:
testColVector.cpp.

Definition at line 986 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::fatalError, vpMath::getMedian(), and vpArray2D< Type >::size().

vpColVector & vpColVector::normalize ( )

Normalise the vector:

\[ {\bf x}_i = \frac{{\bf x}_i}{\sqrt{\sum_{i=1}^{n}x^2_i}} \]

Examples:
testColVector.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 761 of file vpColVector.cpp.

References sumSquare().

Referenced by vpCameraParameters::computeFov(), vpMbTracker::createCylinderBBox(), vpMbtDistanceKltPoints::init(), vpMbtPolygon::isVisible(), vpPose::poseDementhonNonPlan(), and vpMbKltTracker::setPose().

vpColVector & vpColVector::normalize ( vpColVector &  x) const

Normalise the vector:

\[ {\bf x}_i = \frac{{\bf x}_i}{\sqrt{\sum_{i=1}^{n}x^2_i}} \]

Definition at line 746 of file vpColVector.cpp.

References sumSquare().

double vpColVector::operator* ( const vpColVector &  v) const

Operator that performs the dot product between two column vectors.

Exceptions
vpException::dimensionErrorIf the vector dimension differ.
See Also
dotProd()

Definition at line 152 of file vpColVector.cpp.

References vpException::dimensionError, vpArray2D< double >::rowNum, vpArray2D< double >::size(), and vpArray2D< Type >::size().

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

Multiply a column vector by a row vector.

Parameters
v: Row vector.
Returns
The resulting matrix.

Definition at line 175 of file vpColVector.cpp.

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

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

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

Parameters
x: The scalar.
Returns
The column vector multiplied by the scalar. The current column vector (*this) is unchanged.
vpColVector v(3);
v[0] = 1;
v[1] = 2;
v[2] = 3;
vpColVector w = v * 3;
// v is unchanged
// w is now equal to : [3, 6, 9]

Definition at line 386 of file vpColVector.cpp.

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

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

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

Parameters
x: The scalar.
Returns
The column vector multiplied by the scalar.
vpColVector v(3);
v[0] = 1;
v[1] = 2;
v[2] = 3;
v *= 3;
// v is now equal to : [3, 6, 9]

Definition at line 414 of file vpColVector.cpp.

References vpArray2D< double >::rowNum.

vpColVector vpColVector::operator+ ( const vpColVector &  v) const

Operator that allows to add two column vectors.

Definition at line 69 of file vpColVector.cpp.

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

vpTranslationVector vpColVector::operator+ ( const vpTranslationVector &  t) const

Operator that allows to add a column vector to a translation vector.

Parameters
t: 3-dimension translation vector to add.
Returns
The sum of the current columnn vector (*this) and the translation vector to add.
vpTranslationVector t1(1,2,3);
vpColVector v(3);
v[0] = 4; v[1] = 5; v[2] = 6;
vpTranslationVector t2;
t2 = v + t1;
// t1 and v leave unchanged
// t2 is now equal to : 5, 7, 9

Definition at line 101 of file vpColVector.cpp.

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

vpColVector & vpColVector::operator+= ( vpColVector  v)

Operator that allows to add two column vectors.

Definition at line 116 of file vpColVector.cpp.

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

vpColVector vpColVector::operator- ( const vpColVector &  v) const

operator substraction of two vectors V = A-v

Definition at line 187 of file vpColVector.cpp.

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

vpColVector vpColVector::operator- ( ) const

Operator that allows to negate all the column vector elements.

vpColVector r(3, 1);
// r contains [1 1 1]^T
vpColVector v = -r;
// v contains [-1 -1 -1]^T

Definition at line 347 of file vpColVector.cpp.

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

vpColVector & vpColVector::operator-= ( vpColVector  v)

Operator that allows to substract two column vectors.

Definition at line 130 of file vpColVector.cpp.

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

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

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

Parameters
x: The scalar.
Returns
The column vector divided by the scalar. The current column vector (*this) is unchanged.
vpColVector v(3);
v[0] = 8;
v[1] = 4;
v[2] = 2;
vpColVector w = v / 2;
// v is unchanged
// w is now equal to : [4, 2, 1]

Definition at line 464 of file vpColVector.cpp.

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

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

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

Parameters
x: The scalar.
Returns
The column vector divided by the scalar.
vpColVector v(3);
v[0] = 8;
v[1] = 4;
v[2] = 2;
v /= 2;
// v is now equal to : [4, 2, 1]

Definition at line 438 of file vpColVector.cpp.

References vpArray2D< double >::rowNum.

vpColVector & vpColVector::operator<< ( const vpColVector &  v)

Copy operator. Allows operation such as A << v

#include <visp3/core/vpColVector.h>
int main()
{
vpColVector A, B(5);
for (unsigned int i=0; i<B.size(); i++)
B[i] = i;
A << B;
std::cout << "A: " << A.t() << std::endl;
}

In column vector A we get:

A: 0 1 2 3 4

Definition at line 616 of file vpColVector.cpp.

vpColVector & vpColVector::operator<< ( double *  x)

Assigment operator. Allow operation such as A = *v

The following example shows how to use this operator.

#include <visp3/core/vpColVector.h>
int main()
{
size_t n = 5;
vpColVector A(n);
double *B = new double [n];
for (unsigned int i = 0; i < n; i++)
B[i] = i;
A << B;
std::cout << "A: " << A.t() << std::endl;
delete [] B;
}

It produces the following output:

A: 0 1 2 3 4

Definition at line 646 of file vpColVector.cpp.

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

vpColVector & vpColVector::operator= ( const vpColVector &  v)

Copy operator. Allow operation such as A = v.

Definition at line 521 of file vpColVector.cpp.

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

vpColVector & vpColVector::operator= ( const vpPoseVector &  p)

Operator that allows to convert a pose vector into a column vector.

Definition at line 579 of file vpColVector.cpp.

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

vpColVector & vpColVector::operator= ( const vpRotationVector &  rv)

Operator that allows to convert a rotation vector into a column vector.

Definition at line 560 of file vpColVector.cpp.

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

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

Operator that allows to convert a translation vector into a column vector.

Definition at line 541 of file vpColVector.cpp.

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

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

Transform a m-by-1 matrix into a column vector.

Warning
Handled with care; M should be a 1 column matrix.
Exceptions
vpException::dimensionErrorIf the matrix has more than 1 column.

Definition at line 480 of file vpColVector.cpp.

References vpArray2D< double >::data, vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), resize(), and vpArray2D< double >::rowNum.

vpColVector & vpColVector::operator= ( const std::vector< double > &  v)

Initialize a row vector from a standard vector of double.

Definition at line 503 of file vpColVector.cpp.

References resize().

vpColVector & vpColVector::operator= ( const std::vector< float > &  v)

Initialize a row vector from a standard vector of double.

Definition at line 513 of file vpColVector.cpp.

References resize().

vpColVector & vpColVector::operator= ( double  x)

Set each element of the column vector to x.

Definition at line 657 of file vpColVector.cpp.

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

double& vpColVector::operator[] ( unsigned int  n)
inline

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

Definition at line 172 of file vpColVector.h.

References vpArray2D< double >::data.

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

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

Definition at line 174 of file vpColVector.h.

References vpArray2D< double >::data.

int vpColVector::print ( std::ostream &  s,
unsigned int  length,
char const *  intro = 0 
) const

Pretty print a column vector. The data are tabulated. The common widths before and after the decimal point are set with respect to the parameter maxlen.

Parameters
sStream used for the printing.
lengthThe suggested width of each vector element. The actual width grows in order to accomodate the whole integral part, and shrinks if the whole extent is not needed for all the numbers.
introThe introduction which is printed before the vector. Can be set to zero (or omitted), in which case the introduction is not printed.
Returns
Returns the common total width for all vector elements.
See Also
std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)
Examples:
servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, testColVector.cpp, and testTwistMatrix.cpp.

Definition at line 1264 of file vpColVector.cpp.

References vpArray2D< double >::getRows(), and vpMath::maximum().

void vpColVector::rad2deg ( )
inline

Convert a column vector containing angles in radians into degrees.

See Also
deg2rad()

Definition at line 210 of file vpColVector.h.

Referenced by vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

void vpColVector::reshape ( vpMatrix &  M,
const unsigned int &  nrows,
const unsigned int &  ncols 
)

Reshape the column vector in a matrix.

Parameters
M: the reshaped matrix.
nrows: number of rows of the matrix.
ncols: number of columns of the matrix.
Exceptions
vpException::dimensionErrorIf the matrix and the column vector have not the same size.

The following example shows how to use this method.

#include <visp/vpColVector.h>
int main()
{
int var=0;
vpMatrix mat(3, 4);
for (int i = 0; i < 3; i++)
for (int j = 0; j < 4; j++)
mat[i][j] = ++var;
std::cout << "mat: \n" << mat << std::endl;
vpColVector col = mat.stackColumns();
std::cout << "column vector: \n" << col << std::endl;
vpMatrix remat = col.reshape(3, 4);
std::cout << "remat: \n" << remat << std::endl;
}

If you run the previous example, you get:

mat:
1 2 3 4
5 6 7 8
9 10 11 12
column vector:
1
5
9
2
6
10
3
7
11
4
8
12
remat:
1 2 3 4
5 6 7 8
9 10 11 12

Definition at line 1185 of file vpColVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< double >::dsize, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpArray2D< double >::rowNum.

Referenced by reshape().

vpMatrix vpColVector::reshape ( const unsigned int &  nrows,
const unsigned int &  ncols 
)

Reshape the column vector in a matrix.

Parameters
nrows: number of rows of the matrix
ncols: number of columns of the matrix
Returns
The reshaped matrix.
See Also
reshape(vpMatrix &, const unsigned int &, const unsigned int &)

Definition at line 1124 of file vpColVector.cpp.

References reshape().

void vpColVector::resize ( const unsigned int  i,
const bool  flagNullify = true 
)
inline

Modify the size of the column vector.

Parameters
i: Size of the vector. This value corresponds to the vector number of rows.
flagNullify: If true, set the data to zero.
Exceptions
vpException::fatalErrorWhen ncols is not equal to 1.
Examples:
servoAfma4Point2DCamVelocityKalman.cpp, servoViper850Point2DCamVelocityKalman.cpp, testColVector.cpp, testSvd.cpp, and testThread2.cpp.

Definition at line 225 of file vpColVector.h.

References vpArray2D< Type >::resize().

Referenced by vpMatrix::add2Matrices(), vpPoint::changeFrame(), vpLine::changeFrame(), vpRobotAfma6::checkJointLimits(), vpServo::computeError(), vpMbTracker::computeJTR(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSSecondPhaseWeights(), vpMbEdgeTracker::computeVVSSecondPhaseWeights(), vpMbKltMultiTracker::computeVVSWeights(), vpMbKltTracker::computeVVSWeights(), vpFeatureMoment::duplicate(), vpFeatureLuminance::error(), vpThetaUVector::extract(), vpRobotPtu46::getDisplacement(), vpRobotBiclops::getDisplacement(), vpSimulatorAfma6::getDisplacement(), vpRobotAfma4::getDisplacement(), vpSimulatorViper850::getDisplacement(), vpRobotAfma6::getDisplacement(), vpRobotViper650::getDisplacement(), vpRobotViper850::getDisplacement(), vpRobotViper650::getForceTorque(), vpRobotViper850::getForceTorque(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), vpPlane::getNormal(), vpRobotPtu46::getPosition(), vpSimulatorCamera::getPosition(), vpRobotCamera::getPosition(), vpSimulatorPioneer::getPosition(), vpSimulatorPioneerPan::getPosition(), vpRobotBiclops::getPosition(), vpSimulatorAfma6::getPosition(), vpSimulatorViper850::getPosition(), vpRobotAfma4::getPosition(), vpRobotAfma6::getPosition(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotPioneer::getVelocity(), vpRobotPtu46::getVelocity(), vpRobotBiclops::getVelocity(), vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpRobotAfma4::getVelocity(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpPoint::getWorldCoordinates(), vpCircle::init(), vpSphere::init(), vpMeTracker::init(), vpLine::init(), vpPoint::init(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpKalmanFilter::init(), vpRobotBiclops::init(), vpFeatureSegment::init(), vpTemplateTrackerTriangle::init(), init(), vpCylinder::init(), vpFeatureMoment::init(), vpFeatureDepth::init(), vpImageSimulator::init(), vpFeaturePoint::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpRobotAfma4::init(), vpSimulatorAfma6::init(), vpFeaturePointPolar::init(), vpFeatureThetaU::init(), vpRobotAfma6::init(), vpSimulatorViper850::init(), vpFeatureTranslation::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMatrix::multMatrixVector(), operator-(), vpSubColVector::operator=(), operator=(), vpPose::poseDementhonNonPlan(), vpPose::poseVirtualVSrobust(), vpPoint::projection(), vpLine::projection(), vpMatrix::pseudoInverse(), vpSimulatorAfma6::readPosFile(), vpSimulatorViper850::readPosFile(), vpRobotAfma4::readPosFile(), vpRobotAfma6::readPosFile(), vpRobotViper650::readPosFile(), vpRobotViper850::readPosFile(), vpRobotPtu46::readPositionFile(), vpRobotBiclops::readPositionFile(), vpRobust::resize(), stack(), vpMatrix::stackColumns(), vpMatrix::sub2Matrices(), vpMatrix::svd(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeKltMultiTracker::trackFirstLoop(), vpFeatureMoment::update(), vpGenericFeature::vpGenericFeature(), vpImageSimulator::vpImageSimulator(), vpRobotWireFrameSimulator::vpRobotWireFrameSimulator(), vpRobust::vpRobust(), vpSickLDMRS::vpSickLDMRS(), vpTemplateTracker::vpTemplateTracker(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(), vpTemplateTrackerZNCC::vpTemplateTrackerZNCC(), and vpViper::vpViper().

void vpColVector::resize ( const unsigned int  nrows,
const unsigned int  ncols,
const bool  flagNullify 
)
inline

Resize the column vector to a nrows-dimension vector. This function can only be used with ncols = 1.

Parameters
nrows: Vector number of rows. This value corresponds to the size of the vector.
ncols: Vector number of columns. This value should be set to 1.
flagNullify: If true, set the data to zero.
Exceptions
vpException::fatalErrorWhen ncols is not equal to 1.

Definition at line 239 of file vpColVector.h.

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

vp_deprecated vpColVector vpColVector::rows ( unsigned int  first_row,
unsigned int  last_row 
) const
inline
Deprecated:
You should rather use extract().

Definition at line 299 of file vpColVector.h.

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 499 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 588 of file vpArray2D.h.

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

vp_deprecated void vpColVector::setIdentity ( const double &  val = 1.0)
Deprecated:
You should rather use eye()
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, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRowVector.cpp, testThread2.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 >::colNum, and vpArray2D< Type >::rowNum.

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

vpMatrix vpColVector::skew ( const vpColVector &  v)
static

Compute the skew symmetric matrix $[{\bf v}]_\times$ of vector v.

\[ \mbox{if} \quad {\bf V} = \left( \begin{array}{c} x \\ y \\ z \end{array}\right), \quad \mbox{then} \qquad [{\bf v}]_\times = \left( \begin{array}{ccc} 0 & -z & y \\ z & 0 & -x \\ -y & x & 0 \end{array}\right) \]

Parameters
v: Input vector used to compute the skew symmetric matrix.
Examples:
servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 1078 of file vpColVector.cpp.

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

Referenced by vpCalibration::calibrationTsai(), crossProd(), and vpFeatureThetaU::interaction().

vpColVector vpColVector::sort ( const vpColVector &  v)
static

Return a column vector with elements of v that are sorted.

See Also
invSort()
Examples:
testSvd.cpp.

Definition at line 813 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::fatalError, and vpArray2D< Type >::getRows().

void vpColVector::stack ( const double &  d)

Stack column vector with a new element at the end of the vector.

Parameters
d: Element to stack to the existing vector.
vpColVector v(3, 1);
// v is equal to [1 1 1]^T
v.stack(-2);
// v is equal to [1 1 1 -2]^T
See Also
stack(const vpColVector &, const vpColVector &)
stack(const vpColVector &, const vpColVector &, vpColVector &)
Examples:
servoPioneerPoint2DDepthWithoutVpServo.cpp, and testColVector.cpp.

Definition at line 858 of file vpColVector.cpp.

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

Referenced by vpCalibration::calibrationTsai(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSSecondPhaseWeights(), vpFeatureSegment::error(), vpFeatureVanishingPoint::error(), vpFeatureEllipse::error(), vpFeatureMomentAlpha::error(), vpGenericFeature::error(), vpFeaturePoint::error(), vpFeatureLine::error(), vpFeaturePoint3D::error(), vpFeatureThetaU::error(), vpFeaturePointPolar::error(), vpFeatureTranslation::error(), vpBasicFeature::get_s(), stack(), vpMatrix::stackMatrices(), and vpMbEdgeKltMultiTracker::trackFirstLoop().

void vpColVector::stack ( const vpColVector &  v)

Stack column vectors.

Parameters
v: Vector to stack to the existing one.
vpColVector v1(3, 1);
// v1 is equal to [1 1 1]^T
vpColVector v2(2, 3);
// v2 is equal to [3 3]^T
v1.stack(v2);
// v1 is equal to [1 1 1 3 3]^T
See Also
stack(const vpColVector &, const double &)
stack(const vpColVector &, const vpColVector &)
stack(const vpColVector &, const vpColVector &, vpColVector &)

Definition at line 883 of file vpColVector.cpp.

References stack().

vpColVector vpColVector::stack ( const vpColVector &  A,
const vpColVector &  B 
)
static

Stack column vectors.

Parameters
A: Initial vector.
B: Vector to stack at the end of A.
Returns
Stacked vector $[A B]^T$.
vpColVector A(3);
vpColVector B(5);
vpColVector C;
C = vpColVector::stack(A, B); // C = [A B]T
// C is now an 8 dimension column vector
See Also
stack(const vpColVector &)
stack(const vpColVector &, const vpColVector &, vpColVector &)

Definition at line 906 of file vpColVector.cpp.

References stack().

void vpColVector::stack ( const vpColVector &  A,
const vpColVector &  B,
vpColVector &  C 
)
static

Stack column vectors.

Parameters
A: Initial vector.
B: Vector to stack at the end of A.
C: Resulting stacked vector $C = [A B]^T$.
vpColVector A(3);
vpColVector B(5);
vpColVector C;
vpColVector::stack(A, B, C); // C = [A B]T
// C is now an 8 dimension column vector
See Also
stack(const vpColVector &)
stack(const vpColVector &, const vpColVector &)

Definition at line 931 of file vpColVector.cpp.

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

vp_deprecated void vpColVector::stackMatrices ( const vpColVector &  r)
inline
Deprecated:
You should rather use stack(const vpColVector &)

Definition at line 310 of file vpColVector.h.

References vpMatrix::stack().

static vp_deprecated vpColVector vpColVector::stackMatrices ( const vpColVector &  A,
const vpColVector &  B 
)
inlinestatic
Deprecated:
You should rather use stack(const vpColVector &A, const vpColVector &B)

Definition at line 314 of file vpColVector.h.

References vpMatrix::stack().

static vp_deprecated void vpColVector::stackMatrices ( const vpColVector &  A,
const vpColVector &  B,
vpColVector &  C 
)
inlinestatic
Deprecated:
You should rather use stack(const vpColVector &A, const vpColVector &B, vpColVector &C)

Definition at line 318 of file vpColVector.h.

References vpMatrix::stack().

double vpColVector::stdev ( const vpColVector &  v,
const bool  useBesselCorrection = false 
)
static

Compute the standard deviation value of all the elements of the vector.

Examples:
testColVector.cpp.

Definition at line 1005 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::fatalError, vpArray2D< Type >::getRows(), mean(), and vpArray2D< Type >::size().

double vpColVector::sum ( ) const

Return the sum of all the elements $v_{i}$ of the column vector v(m).

Returns
The value

\[\sum{i=0}^{m} v_i\]

.
Examples:
testColVector.cpp, and testThread2.cpp.

Definition at line 1352 of file vpColVector.cpp.

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

Referenced by mean().

double vpColVector::sumSquare ( ) const

Return the sum square of all the elements $v_{i}$ of the column vector v(m).

Returns
The value

\[\sum{i=0}^{m} v_i^{2}\]

.
Examples:
photometricVisualServoing.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoMomentImage.cpp, testColVector.cpp, testImageResize.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 1393 of file vpColVector.cpp.

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

Referenced by vpPose::calculArbreDementhon(), vpCalibration::calibrationTsai(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVSCheckLevenbergMarquardtKlt(), vpMbEdgeTracker::computeVVSSecondPhaseCheckLevenbergMarquardt(), vpPose::coplanar(), vpFeatureDepth::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), euclideanNorm(), vpMbTracker::extractCylinders(), vpFeatureThetaU::interaction(), vpMatrix::kernel(), normalize(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpServoData::save(), vpSimulatorAfma6::setPosition(), and vpSimulatorViper850::setPosition().

vpRowVector vpColVector::t ( ) const

Transpose the column vector. The resulting vector becomes a row vector.

Examples:
movePtu46.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, testColVector.cpp, testComedi.cpp, testDisplacement.cpp, testForceTorqueAti.cpp, testKalmanAcceleration.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testVirtuose.cpp, testVirtuoseAfma6.cpp, testVirtuosePeriodicFunction.cpp, tutorial-homography-from-points.cpp, and tutorial-pioneer-robot.cpp.

Definition at line 669 of file vpColVector.cpp.

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

Referenced by vpPose::calculArbreDementhon(), vpServo::computeProjectionOperators(), vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpPose::poseDementhonPlan(), vpForwardProjection::print(), vpServo::print(), vpPose::printPoint(), vpServoData::save(), vpRobotBiclops::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and transpose().

vpRowVector vpColVector::transpose ( ) const

Transpose the column vector. The resulting vector becomes a row vector.

See Also
t()

Definition at line 680 of file vpColVector.cpp.

References t().

void vpColVector::transpose ( vpRowVector &  v) const

Transpose the column vector. The resulting vector v becomes a row vector.

See Also
t()

Definition at line 689 of file vpColVector.cpp.

References t().

Friends And Related Function Documentation

vpColVector operator* ( const double &  x,
const vpColVector &  v 
)
related

Allows to multiply a scalar by a column vector.

Definition at line 699 of file vpColVector.cpp.

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.

friend class vpMatrix
friend

Definition at line 74 of file vpColVector.h.

Member Data Documentation

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 76 of file vpArray2D.h.

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

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

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 80 of file vpArray2D.h.

Referenced by clear(), vpTranslationVector::euclideanNorm(), vpRowVector::euclideanNorm(), vpMatrix::euclideanNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpTranslationVector::operator*(), vpRotationVector::operator*(), vpTranslationVector::operator-(), vpTranslationVector::operator/(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpRxyzVector::operator=(), vpMatrix::operator=(), vpThetaUVector::operator=(), vpRowVector::reshape(), reshape(), vpMatrix::stackRows(), and vpRotationVector::t().

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

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 78 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), clear(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::init(), init(), vpMatrix::init(), vpRotationMatrix::operator*(), vpForceTwistMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpHomogeneousMatrix::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpMatrix::operator*=(), vpMatrix::operator+=(), vpMatrix::operator-=(), vpMatrix::operator/(), vpMatrix::operator/=(), vpMatrix::operator<<(), operator<<(), vpSubMatrix::operator=(), vpRotationMatrix::operator=(), vpForceTwistMatrix::operator=(), vpVelocityTwistMatrix::operator=(), vpHomogeneousMatrix::operator=(), vpRowVector::operator=(), vpMatrix::operator=(), vpMatrix::stackColumns(), vpRowVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), vpTranslationVector::sumSquare(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), and vpMatrix::transpose().