#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

vpRotationMatrix &	operator= (const vpRotationMatrix &R)

vpRotationMatrix &	operator= (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

vpRotationMatrix &	operator*= (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

Implementation of a rotation matrix and operations on such kind of matrices.

The vpRotationMatrix considers the particular case of a rotation matrix.

The vpRotationMatrix class is derived from vpArray2D<double>.

Examples:: AROgreBasic.cpp, exponentialMap.cpp, HelloWorldOgre.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testDisplacement.cpp, testMatrix.cpp, testPoseVector.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTwistMatrix.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseHapticBox.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.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 70 of file vpRotationMatrix.h.

Constructor & Destructor Documentation

vpRotationMatrix::vpRotationMatrix ( )

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

Definition at line 334 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 343 of file vpRotationMatrix.cpp.

vpRotationMatrix::vpRotationMatrix ( const vpHomogeneousMatrix & M )

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

Definition at line 350 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 358 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 366 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 374 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 382 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 390 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 406 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 398 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 vpHomogeneousMatrix & M )

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 488 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 534 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 547 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 581 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 614 of file vpRotationMatrix.cpp.

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpQuaternionVector & q )

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

Definition at line 660 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 646 of file vpRotationMatrix.cpp.

References buildFrom().

void vpRotationMatrix::eye ( )

Initialize the rotation matrix as identity.

See Also: setIdentity()

Definition at line 66 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()
{
  vpRotationMatrix R;
  vpColVector r = R.getCol(2);
  std::cout << "Last column: \n" << r << std::endl;
}

It produces the following output:

Last column:
0
0
1

Examples:: testVirtuoseHapticBox.cpp.

Definition at line 734 of file vpRotationMatrix.cpp.

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

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

vpThetaUVector vpRotationMatrix::getThetaUVector ( )

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

Definition at line 699 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, testVirtuoseAfma6.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 434 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()
{
  vpRotationMatrix R, Rinv;
  // ... Update rotation matrix R
  // Compute the inverse in Rinv
  R.inverse(Rinv);
}

Definition at line 459 of file vpRotationMatrix.cpp.

References inverse().

bool vpRotationMatrix::isARotationMatrix ( ) const

Test if the rotation matrix is really a rotation matrix.

Definition at line 294 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 417 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 244 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 141 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.

vpRotationMatrix R;
vpTranslationVector t;
vpMatrix M = t.skew();
vpMatrix RM = R * M;

Exceptions

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

Definition at line 170 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::dimensionError If 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);
  vpRotationMatrix R;
  p2 = R * p1;
  
  return 0;
}

Definition at line 220 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 264 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 279 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. vpRotationMatrix R1(vpMath::rad(10, vpMath::rad(20), vpMath::rad(30)); vpRotationMatrix R2 = R1;

Definition at line 88 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.

vpMatrix M;
M.eye()
vpRotationMatrix R = M;

Exceptions

vpException::fatalError If the input matrix is not a rotation matrix.

See Also: isARotationMatrix()

Definition at line 115 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.

References vpArray2D< Type >::rowPtrs.

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.

References vpArray2D< Type >::rowPtrs.

void vpRotationMatrix::printVector ( )

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

Definition at line 468 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::fatalError When 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 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().

void vpRotationMatrix::setIdentity ( )

Deprecated:: You should rather use eye().

Deprecated:: You should rather use eye().

Initializes the rotation matrix as identity.

See Also: eye()

Definition at line 756 of file vpRotationMatrix.cpp.

References 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(), vpColVector::insert(), and vpColVector::operator*().

vpRotationMatrix vpRotationMatrix::t ( ) const

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

See Also: inverse()

Definition at line 417 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

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

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 76 of file vpArray2D.h.

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(), vpMatrix::euclideanNorm(), vpMatrix::expm(), vpThetaUVector::extract(), vpThetaUVector::getTheta(), vpThetaUVector::getU(), 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=(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpRxyzVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpThetaUVector::operator=(), vpColVector::operator[](), vpRowVector::reshape(), vpColVector::reshape(), vpQuaternionVector::set(), vpMatrix::stackRows(), vpColVector::sum(), vpColVector::sumSquare(), vpRotationVector::t(), vpTranslationVector::t(), vpPoseVector::t(), vpRowVector::t(), vpColVector::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

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 74 of file vpArray2D.h.

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 78 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation