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

#ifndef vpRotationVECTOR_H
#define vpRotationVECTOR_H

#include <iostream>
#include <math.h>
#include <stdio.h>

#include <visp3/core/vpArray2D.h>

class vpRowVector;
class vpColVector;

class VISP_EXPORT vpRotationVector : public vpArray2D<double>
{  
public:
  vpRotationVector()
    : vpArray2D<double>()
  {}

  vpRotationVector(const unsigned int n)
    : vpArray2D<double>(n, 1)
  {}

  vpRotationVector(const vpRotationVector &v)
    : vpArray2D<double>(v)
  {}

  virtual ~vpRotationVector() {};


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

  vpRotationVector &operator=(const vpRotationVector &v)
  {
    resize(v.size(), 1);
    for (unsigned int i=0; i<v.size(); i++)
    {
      data[i] = v.data[i] ;
    }
    return *this;
  }
  vpColVector operator*(double x) const;

  double sumSquare() const;

  // Transpose of the rotation vector.
  vpRowVector t() const;

} ;

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

#endif