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vpTranslationVector Class Reference
Tranformations

#include <visp3/core/vpTranslationVector.h>

+ Inheritance diagram for vpTranslationVector:

Public Member Functions

 vpTranslationVector ()
 
 vpTranslationVector (const double tx, const double ty, const double tz)
 
 vpTranslationVector (const vpTranslationVector &tv)
 
 vpTranslationVector (const vpHomogeneousMatrix &M)
 
 vpTranslationVector (const vpPoseVector &p)
 
 vpTranslationVector (const vpColVector &v)
 
vpTranslationVector buildFrom (const double tx, const double ty, const double tz)
 
vpTranslationVector buildFrom (const vpHomogeneousMatrix &M)
 
vpTranslationVector buildFrom (const vpPoseVector &p)
 
vpTranslationVector buildFrom (const vpColVector &v)
 
double euclideanNorm () const
 
vpTranslationVector operator+ (const vpTranslationVector &tv) const
 
vpTranslationVector operator+ (const vpColVector &v) const
 
vpTranslationVector operator- (const vpTranslationVector &tv) const
 
vpTranslationVector operator- () const
 
vpMatrix operator* (const vpRowVector &v) const
 
vpTranslationVector operator* (const double x) const
 
vpTranslationVector & operator*= (double x)
 
vpTranslationVector operator/ (const double x) const
 
vpTranslationVector & operator/= (double x)
 
vpTranslationVector & operator= (const vpColVector &tv)
 
vpTranslationVector & operator= (const vpTranslationVector &tv)
 
vpTranslationVector & operator= (double x)
 
double & operator[] (unsigned int n)
 
const double & operator[] (unsigned int n) const
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
 
void set (const double tx, const double ty, const double tz)
 
vpMatrix skew () const
 
double sumSquare () const
 
vpRowVector t () const
 
Inherited functionalities from vpArray2D
double getMinValue () const
 
double getMaxValue () const
 
unsigned int getRows () const
 
unsigned int getCols () const
 
unsigned int size () const
 

Static Public Member Functions

static vpTranslationVector cross (const vpTranslationVector &a, const vpTranslationVector &b)
 
static vpMatrix skew (const vpTranslationVector &tv)
 
static void skew (const vpTranslationVector &tv, vpMatrix &M)
 
Inherited I/O from vpArray2D with Static Public Member Functions
static bool load (const std::string &filename, vpArray2D< double > &A, const bool binary=false, char *header=NULL)
 
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=NULL)
 
static bool save (const std::string &filename, const vpArray2D< double > &A, const bool binary=false, const char *header="")
 
static bool saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")
 

Public Attributes

double * data
 

Protected Attributes

unsigned int rowNum
 
unsigned int colNum
 
double ** rowPtrs
 
unsigned int dsize
 

Related Functions

(Note that these are not member functions.)

enum  vpGEMMmethod
 

Detailed Description

Class that consider the case of a translation vector.

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

Translations are expressed in meters.

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

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpTranslationVector.h>
int main()
{
vpTranslationVector t; // Translation vector
// Initialization of the translation vector
t[0] = 0.2; // tx = 0.2 meters
t[1] = -0.1; // ty = -0.1 meters
t[2] = 1.0; // tz = 1 meters
// Construction of a rotation matrix
vpRotationMatrix R; // Set to identity by default
// Construction of an homogeneous matrix
vpHomogeneousMatrix M(t, R);
}
Examples:
calibrateTsai.cpp, exponentialMap.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuSphere.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testDisplacement.cpp, testPoseRansac2.cpp, testPoseVector.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTranslationVector.cpp, testTwistMatrix.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseHapticBox.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 93 of file vpTranslationVector.h.

Constructor & Destructor Documentation

vpTranslationVector::vpTranslationVector ( )
inline

Default constructor. The translation vector is initialized to zero.

Definition at line 101 of file vpTranslationVector.h.

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

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

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

Definition at line 56 of file vpTranslationVector.cpp.

vpTranslationVector::vpTranslationVector ( const vpTranslationVector &  tv)

Copy constructor.

Parameters
tv: Translation vector to copy.
vpTranslationVector t1(1,2,3); // Create and initialize a translation vector
vpTranslationVector t2(t1); // t2 is now a copy of t1

Definition at line 102 of file vpTranslationVector.cpp.

vpTranslationVector::vpTranslationVector ( const vpHomogeneousMatrix &  M)

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

Parameters
M: Homogeneous matrix where translations are in meters.

Definition at line 71 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

vpTranslationVector::vpTranslationVector ( const vpPoseVector &  p)

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

Parameters
p: Pose vector where translations are in meters.

Definition at line 84 of file vpTranslationVector.cpp.

vpTranslationVector::vpTranslationVector ( const vpColVector &  v)

Construct a translation vector $ \bf t $ from a 3-dimension column vector.

Parameters
v: 3-dimension column vector.
vpColVector v(3);
v[0] = 1; v[1] = 2; v[2] = 3; // Create and initialize a column vector
vpTranslationVector t(v); // t contains [1, 2, 3,]

Definition at line 120 of file vpTranslationVector.cpp.

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

Member Function Documentation

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

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

Parameters
tx,ty,tz: Translation respectively along x, y and z axis in meter.
Returns
The build translation vector.
See Also
set()

Definition at line 197 of file vpTranslationVector.cpp.

References set().

Referenced by vpWireFrameSimulator::setExternalCameraPosition().

vpTranslationVector vpTranslationVector::buildFrom ( const vpHomogeneousMatrix &  M)

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

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

Definition at line 141 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

vpTranslationVector vpTranslationVector::buildFrom ( const vpPoseVector &  p)

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

Parameters
p: Pose vector where translations are in meters.
Returns
The build translation vector.

Definition at line 157 of file vpTranslationVector.cpp.

vpTranslationVector vpTranslationVector::buildFrom ( const vpColVector &  v)

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

Parameters
v: 3-dimension column vector.
Returns
The build translation vector.

Definition at line 175 of file vpTranslationVector.cpp.

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

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

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

Parameters
a,b: Translation vectors in input.
Returns
The cross product of two translation vectors $a \times b$.
Examples:
testTranslationVector.cpp.

Definition at line 602 of file vpTranslationVector.cpp.

References skew().

double vpTranslationVector::euclideanNorm ( ) const

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

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

Definition at line 626 of file vpTranslationVector.cpp.

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

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

Return the number of columns of the 2D array.

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

Definition at line 154 of file vpArray2D.h.

References vpArray2D< Type >::colNum.

Referenced by 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(), vpColVector::cppPrint(), vpMatrix::cppPrint(), vpColVector::csvPrint(), vpMatrix::csvPrint(), vpRotationMatrix::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().

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().

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

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

Parameters
v: Row vector.
Returns
The resulting matrix that is 3-by-n dimension.

Definition at line 362 of file vpTranslationVector.cpp.

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

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

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

Parameters
x: The scalar.
Returns
The translation vector multiplied by the scalar. The current translation vector (*this) is unchanged.
vpTranslationVector t1(1,2,3);
t2 = t1 * 3;
// t1 is unchanged
// t2 is now equal to : [3, 6, 9]

Definition at line 343 of file vpTranslationVector.cpp.

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

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

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

Parameters
x: The scalar.
Returns
The translation vector multiplied by the scalar.

Definition at line 380 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

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

Operator that allows to add two translation vectors.

Parameters
tv: Translation vector to add.
Returns
The sum of the current translation vector (*this) and the one to add.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2(4,5,6);
vpTranslationVector t3;
t3 = t2 + t1;
// t1 and t2 leave unchanged
// t3 is now equal to : 5, 7, 9

Definition at line 235 of file vpTranslationVector.cpp.

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

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

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

Definition at line 262 of file vpTranslationVector.cpp.

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

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

Operator that allows to substract two translation vectors.

Parameters
tv: Translation vector to substract.
Returns
The substraction of the current translation vector (*this) and the one to substract.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2(4,5,6);
vpTranslationVector t3;
t3 = t2 - t1;
// t1 and t2 leave unchanged
// t3 is now equal to : 3, 3, 3

Definition at line 293 of file vpTranslationVector.cpp.

vpTranslationVector vpTranslationVector::operator- ( void  ) const

Operator that allows to negate a translation vector.

Returns
The negate translation. The current translation vector (*this) is unchanged.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2;
t2 = -t1;
// t1 is unchanged
// t2 is now equal to : [-1, -2, -3]

Definition at line 317 of file vpTranslationVector.cpp.

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

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

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

Parameters
x: The scalar.
Returns
The translation vector divided by the scalar. The current translation vector (*this) is unchanged.
vpTranslationVector t1(8,4,2);
t2 = t1 / 2;
// t1 is unchanged
// t2 is now equal to : [4, 2, 1]

Definition at line 415 of file vpTranslationVector.cpp.

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

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

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

Parameters
x: The scalar.
Returns
The column vector divided by the scalar.

Definition at line 393 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

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

Copy operator.

Parameters
tv: Translation vector to copy
Returns
A copy of tv.
vpColVector t1(3);
t1[0] = 1;
t1[1] = 2;
t1[2] = 3;
vpTranslationVector t2;
t2 = t1;
// t1 is unchanged
// t2 is now equal to t1 : 1, 2, 3

Definition at line 441 of file vpTranslationVector.cpp.

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

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

Copy operator.

Parameters
tv: Translation vector to copy
Returns
A copy of tv.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2;
t2 = t1;
// t1 is unchanged
// t2 is now equal to t1 : 1, 2, 3

Definition at line 474 of file vpTranslationVector.cpp.

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

vpTranslationVector & vpTranslationVector::operator= ( double  x)

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

Parameters
x: Value to set for each element of the translation vector.
vpTranslationVector t;
t = 3;
// Here t is set to 3,3,3

Definition at line 503 of file vpTranslationVector.cpp.

References vpArray2D< double >::data.

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

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

Definition at line 137 of file vpTranslationVector.h.

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

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

Definition at line 139 of file vpTranslationVector.h.

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

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

Exceptions
vpException::fatalErrorWhen this function is called.

Definition at line 146 of file vpTranslationVector.h.

References vpException::fatalError.

Referenced by operator=().

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< double > &  A,
const bool  binary = false,
const char *  header = "" 
)
inlinestaticinherited

Save a matrix to a file.

Parameters
filename: Absolute file name.
A: Array to be saved.
binary: If true the matrix is saved in a binary file, else a text file.
header: Optional line that will be saved at the beginning of the file.
Returns
Returns true if success.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

See Also
load()

Definition at line 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 vpTranslationVector::set ( const double  tx,
const double  ty,
const double  tz 
)

Initialize a translation vector from 3 doubles.

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

Definition at line 210 of file vpTranslationVector.cpp.

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

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

Return the number of elements of the 2D array.

Examples:
testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testPoseVector.cpp, 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*().

vpMatrix vpTranslationVector::skew ( ) const

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

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

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

Returns
Skew symmetric matrix $M$ of the translation vector.
Examples:
testTranslationVector.cpp.

Definition at line 584 of file vpTranslationVector.cpp.

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

vpMatrix vpTranslationVector::skew ( const vpTranslationVector &  tv)
static

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

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

Parameters
tv: Translation vector in input.
Returns
Skew symmetric matrix $M$ of translation vector $t$.

Definition at line 558 of file vpTranslationVector.cpp.

References skew().

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

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

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

Parameters
tv: Translation vector in input used to compute the skew symmetric matrix M.
M: Skew symmetric matrix of translation vector $t$.

Definition at line 531 of file vpTranslationVector.cpp.

References vpArray2D< Type >::resize().

double vpTranslationVector::sumSquare ( ) const

Return the sum square of all the elements $t_{i}$ of the translation vector t(m).

Returns
The value

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

.

Definition at line 642 of file vpTranslationVector.cpp.

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

vpRowVector vpTranslationVector::t ( ) const

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

Examples:
servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, testDisplacement.cpp, testRobotViper850.cpp, testViper650.cpp, testViper850.cpp, tutorial-homography-from-points.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 612 of file vpTranslationVector.cpp.

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

Friends And Related Function Documentation

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.

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(), vpColVector::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<<(), vpColVector::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(), vpRzyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpRxyzVector::buildFrom(), vpThetaUVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), euclideanNorm(), vpRowVector::euclideanNorm(), vpMatrix::euclideanNorm(), vpMatrix::expm(), vpThetaUVector::extract(), vpThetaUVector::getTheta(), vpThetaUVector::getU(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), operator*(), vpRowVector::operator*(), vpColVector::operator*(), vpHomography::operator*(), operator-(), vpRowVector::operator-(), vpColVector::operator-(), operator/(), vpRowVector::operator/(), vpColVector::operator/(), vpHomography::operator/(), vpHomography::operator/=(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), 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(), 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

Current array size (rowNum * colNum)

Definition at line 80 of file vpArray2D.h.

Referenced by vpColVector::clear(), euclideanNorm(), vpRowVector::euclideanNorm(), vpMatrix::euclideanNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), operator*(), vpRotationVector::operator*(), operator-(), operator/(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpRxyzVector::operator=(), vpMatrix::operator=(), vpThetaUVector::operator=(), vpRowVector::reshape(), vpColVector::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(), vpColVector::clear(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpColVector::extract(), vpMatrix::eye(), vpColVector::infinityNorm(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::insert(), vpMatrix::inverseByCholesky(), vpMatrix::inverseByLU(), vpMatrix::inverseByQR(), vpRotationMatrix::operator*(), operator*(), vpHomogeneousMatrix::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), operator*=(), vpColVector::operator*=(), vpMatrix::operator*=(), vpColVector::operator+(), vpColVector::operator+=(), vpMatrix::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpMatrix::operator-=(), vpColVector::operator/(), vpMatrix::operator/(), operator/=(), vpColVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpColVector::reshape(), vpMatrix::setIdentity(), vpMatrix::stack(), vpColVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpColVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), sumSquare(), vpColVector::sumSquare(), vpMatrix::sumSquare(), t(), vpPoseVector::t(), vpColVector::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(), vpColVector::clear(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::init(), vpColVector::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<<(), vpColVector::operator<<(), vpSubMatrix::operator=(), vpRotationMatrix::operator=(), vpForceTwistMatrix::operator=(), vpVelocityTwistMatrix::operator=(), vpHomogeneousMatrix::operator=(), vpRowVector::operator=(), vpMatrix::operator=(), vpMatrix::stackColumns(), vpRowVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), sumSquare(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), and vpMatrix::transpose().