vpTranslationVector.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:
 * Translation vector.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#include <stdio.h>
#include <string.h>

#include <visp3/core/vpTranslationVector.h>

vpTranslationVector::vpTranslationVector(const double tx, const double ty, const double tz)
  : vpArray2D<double>(3, 1)
{
  (*this)[0] = tx;
  (*this)[1] = ty;
  (*this)[2] = tz;
}

vpTranslationVector::vpTranslationVector(const vpHomogeneousMatrix &M)
  : vpArray2D<double>(3, 1)
{
  M.extract( *this );
}

vpTranslationVector::vpTranslationVector(const vpPoseVector &p)
  : vpArray2D<double>(3, 1)
{
  (*this)[0] = p[0];
  (*this)[1] = p[1];
  (*this)[2] = p[2];
}

vpTranslationVector::vpTranslationVector (const vpTranslationVector &tv)
  : vpArray2D<double>(tv)
{
}

vpTranslationVector::vpTranslationVector (const vpColVector &v)
  : vpArray2D<double>(v)
{
  if (v.size() != 3) {
    throw(vpException(vpException::dimensionError,
                      "Cannot construct a translation vector from a %d-dimension column vector", v.size()));
  }
}

vpTranslationVector
vpTranslationVector::buildFrom(const vpHomogeneousMatrix& M)
{
  M.extract( *this );
  return *this ;
}

vpTranslationVector
vpTranslationVector::buildFrom(const vpPoseVector& p)
{
  (*this)[0] = p[0];
  (*this)[1] = p[1];
  (*this)[2] = p[2];
  return *this ;
}

vpTranslationVector
vpTranslationVector::buildFrom(const vpColVector& v)
{
  if (v.size() != 3) {
    throw(vpException(vpException::dimensionError,
                      "Cannot build a translation vector from a %d-dimension column vector", v.size()));
  }

  (*this)[0] = v[0];
  (*this)[1] = v[1];
  (*this)[2] = v[2];
  return *this ;
}

vpTranslationVector
vpTranslationVector::buildFrom(const double tx, const double ty, const double tz)
{
  set(tx, ty, tz);
  return *this ;
}

void
vpTranslationVector::set(const double tx, const double ty, const double tz)
{
  (*this)[0] = tx ;
  (*this)[1] = ty ;
  (*this)[2] = tz ;
}

vpTranslationVector
vpTranslationVector::operator+(const vpTranslationVector &tv) const
{
  vpTranslationVector s;

  for (unsigned int i=0;i<3;i++)  s[i] = (*this)[i]+tv[i] ;

  return s;
}
vpTranslationVector
vpTranslationVector::operator+(const vpColVector &v) const
{
  if (v.size() != 3) {
    throw(vpException(vpException::dimensionError,
                      "Cannot add translation vector to a %d-dimension column vector", v.size()));
  }
  vpTranslationVector s;

  for (unsigned int i=0;i<3;i++) s[i] = (*this)[i]+v[i] ;

  return s;
}

vpTranslationVector
vpTranslationVector::operator-(const vpTranslationVector &tv) const
{
  vpTranslationVector sub ;

  for (unsigned int i=0;i<3;i++)  sub[i] = (*this)[i]-tv[i] ;

  return sub;
}


vpTranslationVector vpTranslationVector::operator-() const //negate
{
  vpTranslationVector tv;
  for (unsigned int i=0;i<dsize;i++)
  {
    *(tv.data + i) = -*(data + i) ;
  }

  return tv;
}

vpTranslationVector vpTranslationVector::operator*(const double x) const 
{
  vpTranslationVector tv;
  for (unsigned int i=0;i<dsize;i++) {
    *(tv.data + i) = (*(data + i)) * x ;
  }

  return tv;
}

vpMatrix vpTranslationVector::operator*(const vpRowVector &v) const
{
  vpMatrix M(rowNum, v.getCols());
  for (unsigned int i=0; i<rowNum; i++) {
    for (unsigned int j=0; j<v.getCols(); j++) {
      M[i][j] = (*this)[i] * v[j];
    }
  }
  return M;
}

vpTranslationVector &vpTranslationVector::operator*=(double x)
{
  for (unsigned int i=0;i<rowNum;i++)
    (*this)[i] *= x;
  return (*this);
}
vpTranslationVector &vpTranslationVector::operator/=(double x)
{
  for (unsigned int i=0;i<rowNum;i++)
    (*this)[i] /= x;
  return (*this);
}

vpTranslationVector vpTranslationVector::operator/(const double x) const
{
  vpTranslationVector tv;
  for (unsigned int i=0;i<dsize;i++) {
    *(tv.data + i) = (*(data + i)) / x ;
  }

  return tv;
}

vpTranslationVector &vpTranslationVector::operator=(const vpColVector &tv)
{
  if (tv.size() != 3) {
    throw(vpException(vpException::dimensionError, "Cannot initialize a translation vector from a %d-dimension col vector", tv.size()));
  }
  unsigned int k = tv.size() ;
  if (rowNum != k){
    try {
      resize(k, 1);
    }
    catch(...)
    {
      throw ;
    }
  }

  memcpy(data, tv.data, rowNum*sizeof(double)) ;

  return *this;
}
vpTranslationVector &vpTranslationVector::operator=(const vpTranslationVector &tv)
{
  unsigned int k = tv.rowNum ;
  if (rowNum != k){
    try {
      resize(k, 1);
    }
    catch(...)
    {
      throw ;
    }
  }

  memcpy(data, tv.data, rowNum*sizeof(double)) ;

  return *this;
}

vpTranslationVector & vpTranslationVector::operator=(double x)
{
  double *d = data ;

  for (int i=0;i<3;i++)
    *(d++)=  x ;

  return *this;
}

void
vpTranslationVector::skew(const vpTranslationVector &tv, vpMatrix &M)
{
  M.resize(3,3) ;
  M[0][0] = 0 ;     M[0][1] = -tv[2] ; M[0][2] = tv[1] ;
  M[1][0] = tv[2] ; M[1][1] = 0 ;      M[1][2] = -tv[0] ;
  M[2][0] = -tv[1]; M[2][1] = tv[0] ;  M[2][2] = 0 ;
}

vpMatrix
vpTranslationVector::skew(const vpTranslationVector &tv)
{
  vpMatrix M(3, 3);
  skew(tv,M);
  return M;
}

vpMatrix
vpTranslationVector::skew() const
{
  vpMatrix M(3, 3);
  skew(*this,M);
  return M;
}


vpTranslationVector
vpTranslationVector::cross(const vpTranslationVector &a,
                           const vpTranslationVector &b)
{
  vpMatrix skew_a = vpTranslationVector::skew(a) ;
  return (vpTranslationVector)(skew_a * b);
}

vpRowVector vpTranslationVector::t() const
{
  vpRowVector v(rowNum);
  memcpy(v.data, data, rowNum*sizeof(double)) ;
  return v;
}

double vpTranslationVector::euclideanNorm() const
{
  double norm=0.0;
  for (unsigned int i=0;i<dsize;i++) {
    double x = *(data +i);
    norm += x*x;
  }

  return sqrt(norm);
}

double vpTranslationVector::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;
}