vpRotationVector.cpp

/****************************************************************************
 *
 * 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:
 * Generic rotation vector (cannot be used as is !).
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#include <algorithm>
#include <math.h>

#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRowVector.h>

vpRowVector vpRotationVector::t() const
{
  vpRowVector v(dsize);

  for (unsigned int i=0; i< dsize; i++)
    v[i] = data[i];

  return v;
}

vpColVector vpRotationVector::operator*(double x) const
{
  vpColVector v(dsize);

  for (unsigned int i=0;i<dsize;i++)
    v[i] = (*this)[i] * x;
  return v;
}

vpColVector operator*(const double &x,const vpRotationVector &v)
{
  vpColVector vout ;
  vout = v*x ;
  return vout ;
}

double vpRotationVector::sumSquare() const
{
  double sum_square=0.0;

  for (unsigned int i=0;i<rowNum;i++) {
    double x=rowPtrs[i][0];
    sum_square += x*x;
  }

  return sum_square;
}