vpColVector.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Provide some simple operation on column vectors.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/



#ifndef vpColVector_H
#define vpColVector_H

#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpRowVector.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpPoseVector.h>

class vpMatrix;
class vpRowVector;
class vpRotationVector;
class vpTranslationVector;
class vpPoseVector;

class VISP_EXPORT vpColVector : public vpArray2D<double>
{
   friend class vpMatrix;
public:

  vpColVector() : vpArray2D<double>() {}
  vpColVector(unsigned int n) : vpArray2D<double>(n,1){}
  vpColVector(unsigned int n, double val) : vpArray2D<double>(n, 1, val){}
  vpColVector(const vpColVector &v) : vpArray2D<double>(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()
  {
    if (data != NULL ) {
      free(data);
      data=NULL;
    }

    if (rowPtrs!=NULL) {
      free(rowPtrs);
      rowPtrs=NULL ;
    }
    rowNum = colNum = dsize = 0;
  }

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

  inline void deg2rad() {
    double d2r = M_PI/180.0;

    (*this) *= d2r;
  }

  double euclideanNorm() const;
  vpColVector extract(unsigned int r, unsigned int colsize) const
  {
    if (r >= rowNum || r+colsize > rowNum) {
      throw(vpException(vpException::fatalError,
                        "Cannot extract a (%dx1) column vector from a (%dx1) column vector starting at index %d",
                        colsize, rowNum, r));
    }

    return vpColVector(*this, r, colsize);
  }

  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 ;

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

  inline void rad2deg() {
    double r2d = 180.0/M_PI;

    (*this) *= r2d;
  }

  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)
  {
    vpArray2D<double>::resize(i, 1, flagNullify);
  }
  void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify)
  {
    if (ncols != 1)
      throw(vpException(vpException::fatalError,
                        "Cannot resize a column vector to a (%dx%d) dimension vector that has more than one column",
                        nrows, ncols));
    vpArray2D<double>::resize(nrows, ncols, 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;

  inline static vpColVector cross(const vpColVector &a, const vpColVector &b)
  {
    return crossProd(a,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)  ;
  // Compute the skew matrix [v]x
  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);  

#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

  vp_deprecated void init() {}
  vp_deprecated vpColVector rows(unsigned int first_row, unsigned int last_row) const
  {
     return vpColVector(*this, first_row-1, last_row-first_row+1);
  }
  vp_deprecated void setIdentity(const double & val=1.0) ;
  vp_deprecated void stackMatrices(const vpColVector &r) { stack(r); }
  vp_deprecated static vpColVector stackMatrices(const vpColVector &A, const vpColVector &B) { return stack(A, B); }
  vp_deprecated static void stackMatrices(const vpColVector &A, const vpColVector &B, vpColVector &C) { stack(A, B, C); }

  vp_deprecated void insert(const vpColVector &v, const unsigned int r, const unsigned int c=0);
#endif
};

#ifndef DOXYGEN_SHOULD_SKIP_THIS
VISP_EXPORT
#endif
vpColVector operator*(const double &x, const vpColVector &v) ;

#endif