#include <visp3/core/vpPoseVector.h>

Inheritance diagram for vpPoseVector:

Public Member Functions
	vpPoseVector ()

	vpPoseVector (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)

	vpPoseVector (const vpHomogeneousMatrix &M)

	vpPoseVector (const vpTranslationVector &tv, const vpThetaUVector &tu)

	vpPoseVector (const vpTranslationVector &tv, const vpRotationMatrix &R)

virtual	~vpPoseVector ()

vpPoseVector	buildFrom (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)

vpPoseVector	buildFrom (const vpHomogeneousMatrix &M)

vpPoseVector	buildFrom (const vpTranslationVector &tv, const vpThetaUVector &tu)

vpPoseVector	buildFrom (const vpTranslationVector &tv, const vpRotationMatrix &R)

void	extract (vpRotationMatrix &R) const

void	extract (vpThetaUVector &tu) const

void	extract (vpTranslationVector &tv) const

void	extract (vpQuaternionVector &q) const

vpRotationMatrix	getRotationMatrix () const

vpThetaUVector	getThetaUVector () const

vpTranslationVector	getTranslationVector () const

void	load (std::ifstream &f)

double &	operator[] (unsigned int i)

const double &	operator[] (unsigned int i) const

void	print () const

int	print (std::ostream &s, unsigned int length, char const *intro=0) const

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

void	save (std::ofstream &f) const

void	set (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)

vpRowVector	t () const

Deprecated functions
vp_deprecated void	init ()

Inherited functionalities from vpArray2D
unsigned int	getCols () const

double	getMaxValue () const

double	getMinValue () const

unsigned int	getRows () const

unsigned int	size () const

void	resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)

vpArray2D< double >	hadamard (const vpArray2D< double > &m) const

Static Public Member Functions
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

void	vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)

Detailed Description

Implementation of a pose vector and operations on poses.

The vpPose class implements a complete representation of every rigid motion in the euclidian space.

The vpPose class is derived from vpArray2D<double>.

The pose is composed of a translation and a rotation minimaly represented by a 6 dimension pose vector as:

$^{a}{\bf r}_b = [^{a}{\bf t}_{b},\theta {\bf u}]^\top \in R^6$

where $^{a}{\bf r}_b$ is the pose from frame $ a $ to frame $ b $ , with $^{a}{\bf t}_{b}$ being the translation vector between these frames along the x,y,z axis and $\theta \bf u$ , the axis-angle representation of the rotation $^{a}\bf{R}_{b}$ between these frames.

Translations are expressed in meters, while the angles in the $\theta {\bf u}$ axis-angle representation are expressed in radians.

To know more about the $\theta \bf u$ rotation representation, see vpThetaUVector documentation.

Examples:: servoMomentImage.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuThetaUCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testAprilTag.cpp, testFindMatch.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseHapticBox.cpp, and testVirtuosePeriodicFunction.cpp.

Definition at line 92 of file vpPoseVector.h.

Constructor & Destructor Documentation

◆ vpPoseVector() [1/5]

vpPoseVector::vpPoseVector ( )

Default constructor that construct a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ where $\theta \bf u$ is a rotation vector $[\theta u_x, \theta u_y, \theta u_z]^\top$ and $\bf t$ is a translation vector $[t_x, t_y, t_z]^\top$ .

The pose vector is initialized to zero.

Definition at line 66 of file vpPoseVector.cpp.

◆ vpPoseVector() [2/5]

vpPoseVector::vpPoseVector	(	const double	tx,
		const double	ty,
		const double	tz,
		const double	tux,
		const double	tuy,
		const double	tuz
	)

Construct a 6 dimension pose vector $[\bf{t}, \theta \bf{u}]^\top$ from 3 translations and 3 $\theta \bf{u}$ angles.

Translations are expressed in meters, while rotations in radians.

Parameters

tx,ty,tz	: Translations $[t_x, t_y, t_z]^\top$ respectively along the x, y and z axis (in meters).
tux,tuy,tuz	: Rotations $[\theta u_x, \theta u_y, \theta u_z]^\top$ respectively around the x, y and z axis (in radians).

Definition at line 83 of file vpPoseVector.cpp.

◆ vpPoseVector() [3/5]

vpPoseVector::vpPoseVector ( const vpHomogeneousMatrix & M )

explicit

Construct a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ 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.

Definition at line 138 of file vpPoseVector.cpp.

References buildFrom().

◆ vpPoseVector() [4/5]

vpPoseVector::vpPoseVector	(	const vpTranslationVector &	tv,
		const vpThetaUVector &	tu
	)

Construct a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from a translation vector $\bf tv$ and a $\theta \bf u$ vector.

Parameters

tv	: Translation vector $\bf t$ .
tu	: $\theta \bf u$ rotation vector.

Definition at line 106 of file vpPoseVector.cpp.

References buildFrom().

◆ vpPoseVector() [5/5]

vpPoseVector::vpPoseVector	(	const vpTranslationVector &	tv,
		const vpRotationMatrix &	R
	)

Construct a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from a translation vector $\bf t$ and a rotation matrix $\bf R$ .

Parameters

tv	: Translation vector $\bf t$ .
R	: Rotation matrix $\bf R$ from which $\theta \bf u$ vector is extracted to initialise the pose vector.

Definition at line 123 of file vpPoseVector.cpp.

References buildFrom().

◆ ~vpPoseVector()

virtual vpPoseVector::~vpPoseVector ( )

inlinevirtual

Destructor.

Definition at line 108 of file vpPoseVector.h.

References vpArray2D< Type >::load().

Member Function Documentation

◆ buildFrom() [1/4]

vpPoseVector vpPoseVector::buildFrom	(	const double	tx,
		const double	ty,
		const double	tz,
		const double	tux,
		const double	tuy,
		const double	tuz
	)

Build a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from 3 translations and 3 $\theta \bf{u}$ angles.

Translations are expressed in meters, while rotations in radians.

Parameters

tx,ty,tz	: Translations $[t_x, t_y, t_z]^\top$ respectively along the x, y and z axis (in meters).
tux,tuy,tuz	: Rotations $[\theta u_x, \theta u_y, \theta u_z]^\top$ respectively around the x, y and z axis (in radians).

Returns: The build pose vector.

See also: set()

Examples:: servoMomentImage.cpp, testPoseFeatures.cpp, and testPoseVector.cpp.

Definition at line 183 of file vpPoseVector.cpp.

Referenced by buildFrom(), vpPtu46::computeMGD(), vpBiclops::computeMGD(), vpBiclops::get_fMc(), vpVirtuose::getAvatarPosition(), vpVirtuose::getBaseFrame(), vpVirtuose::getObservationFrame(), vpVirtuose::getPhysicalPosition(), vpVirtuose::getPosition(), vpMbTracker::savePose(), and vpPoseVector().

◆ buildFrom() [2/4]

vpPoseVector vpPoseVector::buildFrom ( const vpHomogeneousMatrix & M )

Build a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ 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 pose vector.

Definition at line 207 of file vpPoseVector.cpp.

References buildFrom(), and vpHomogeneousMatrix::extract().

◆ buildFrom() [3/4]

vpPoseVector vpPoseVector::buildFrom	(	const vpTranslationVector &	tv,
		const vpThetaUVector &	tu
	)

Build a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from a translation vector $\bf t$ and a $\theta \bf u$ vector.

Parameters

tv	: Translation vector $\bf t$ .
tu	: $\theta \bf u$ rotation vector.

Returns: The build pose vector.

Definition at line 228 of file vpPoseVector.cpp.

◆ buildFrom() [4/4]

vpPoseVector vpPoseVector::buildFrom	(	const vpTranslationVector &	tv,
		const vpRotationMatrix &	R
	)

Build a 6 dimension pose vector $[\bf t, \theta \bf u]^\top$ from a translation vector $\bf t$ and a rotation matrix $\bf R$ .

Parameters

tv	: Translation vector $\bf t$ .
R	: Rotation matrix $\bf R$ from which $\theta \bf u$ vector is extracted to initialise the pose vector.

Returns: The build pose vector.

Definition at line 250 of file vpPoseVector.cpp.

References buildFrom(), and vpThetaUVector::buildFrom().

◆ extract() [1/4]

void vpPoseVector::extract ( vpRotationMatrix & R ) const

Extract the rotation as a rotation matrix.

Examples:: testVirtuoseHapticBox.cpp.

Definition at line 289 of file vpPoseVector.cpp.

References vpRotationMatrix::buildFrom().

Referenced by vpVirtuose::setBaseFrame(), vpVirtuose::setObservationFrame(), and vpVirtuose::setPosition().

◆ extract() [2/4]

void vpPoseVector::extract ( vpThetaUVector & tu ) const

Extract the rotation as a $\theta \bf u$ vector.

Definition at line 272 of file vpPoseVector.cpp.

◆ extract() [3/4]

void vpPoseVector::extract ( vpTranslationVector & tv ) const

Extract the translation vector from the homogeneous matrix.

Definition at line 262 of file vpPoseVector.cpp.

◆ extract() [4/4]

void vpPoseVector::extract ( vpQuaternionVector & q ) const

Extract the rotation as a quaternion vector.

Definition at line 281 of file vpPoseVector.cpp.

References vpQuaternionVector::buildFrom().

◆ getCols()

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

inlineinherited

Return the number of columns of the 2D array.

See also: getRows(), size()

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

Definition at line 146 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::getMaxValue(), and vpArray2D< Type >::getMinValue().

Referenced by vpRowVector::cppPrint(), vpMatrix::cppPrint(), vpRowVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLU(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::kernel(), vpRowVector::maplePrint(), vpMatrix::maplePrint(), vpRowVector::matlabPrint(), vpMatrix::matlabPrint(), vpRowVector::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpRowVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), and vpMatrix::row().

◆ getMaxValue()

double vpArray2D< double >::getMaxValue ( ) const

inherited

Return the array max value.

Examples:: servoMomentImage.cpp, testArray2D.cpp, and testMatrix.cpp.

Definition at line 671 of file vpArray2D.h.

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

◆ getMinValue()

double vpArray2D< double >::getMinValue ( ) const

inherited

Return the array min value.

Examples:: servoMomentImage.cpp, testArray2D.cpp, and testMatrix.cpp.

Definition at line 655 of file vpArray2D.h.

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

◆ getRotationMatrix()

vpRotationMatrix vpPoseVector::getRotationMatrix ( ) const

Return the rotation matrix that corresponds to the rotation part of the pose vector.

Definition at line 304 of file vpPoseVector.cpp.

◆ getRows()

unsigned int vpArray2D< double >::getRows ( ) const

inlineinherited

Return the number of rows of the 2D array.

See also: getCols(), size()

Examples:: testColVector.cpp, testDisplacement.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, and testTranslationVector.cpp.

Definition at line 156 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpMatrix::column(), vpColVector::cppPrint(), vpMatrix::cppPrint(), vpColVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLU(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::getRow(), vpMatrix::inverseByCholesky(), vpMatrix::kernel(), vpColVector::maplePrint(), vpMatrix::maplePrint(), vpColVector::matlabPrint(), vpMatrix::matlabPrint(), vpColVector::operator+(), vpColVector::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), print(), vpColVector::print(), vpMatrix::print(), and vpMatrix::pseudoInverse().

◆ getThetaUVector()

vpThetaUVector vpPoseVector::getThetaUVector ( ) const

Return the $\theta {\bf u}$ vector that corresponds to the rotation part of the pose vector.

Definition at line 314 of file vpPoseVector.cpp.

◆ getTranslationVector()

vpTranslationVector vpPoseVector::getTranslationVector ( ) const

Return the translation vector that corresponds to the translation part of the pose vector.

Definition at line 294 of file vpPoseVector.cpp.

◆ hadamard()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< double > & m ) const

inherited

Compute the Hadamard product (element wise matrix multiplication).

Parameters

m	: Second matrix;

Returns: m1.hadamard(m2) The Hadamard product : $m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j}$

Examples:: testArray2D.cpp.

Definition at line 690 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< Type >::dsize, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpArray2D< Type >::rowNum.

◆ init()

vp_deprecated void vpPoseVector::init ( )

inline

Deprecated:: Provided only for compat with previous releases. This function does nothing.

Definition at line 207 of file vpPoseVector.h.

◆ load() [1/2]

void vpPoseVector::load ( std::ifstream & f )

Read a pose vector from an input file stream.

Parameters

f	: The input file stream..Should be open before entering in this method.

Exceptions

vpException::ioError : If the input file stream is not open.

See also: save()

Definition at line 381 of file vpPoseVector.cpp.

References vpException::ioError.

Referenced by vpViewer::resize().

◆ load() [2/2]

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 318 of file vpArray2D.h.

References vpException::badValue, and vpArray2D< Type >::resize().

◆ loadYAML()

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 426 of file vpArray2D.h.

References vpArray2D< Type >::resize().

◆ operator[]() [1/2]

double& vpPoseVector::operator[] ( unsigned int i )

inline

Set the value of an element of the pose vector: r[i] = x.

Parameters

i	: Pose vector element index

// Create a pose vector with translation and rotation set to zero
vpPoseVector r;
// Initialize the pose vector
r[0] = 1;
r[1] = 2;
r[2] = 3;
r[3] = M_PI;
r[4] = -M_PI;
r[5] = 0;

This code produces the same effect:

vpPoseVector r(1, 2, 3, M_PI, -M_PI, 0);

Definition at line 155 of file vpPoseVector.h.

◆ operator[]() [2/2]

const double& vpPoseVector::operator[] ( unsigned int i ) const

inline

Get the value of an element of the pose vector: x = r[i].

Parameters

i	: Pose vector element index

vpPoseVector r(1, 2, 3, M_PI, -M_PI, 0);
double tx,ty,tz; // Translation
double tux, tuy,tuz; // Theta u rotation
tx  = r[0];
ty  = r[1];
tz  = r[2];
tux = r[3];
tuy = r[4];
tuz = r[5];

Definition at line 174 of file vpPoseVector.h.

◆ print() [1/2]

void vpPoseVector::print ( ) const

Prints to the standart stream the pose vector.

Warning: Values concerning the $\theta {\bf u}$ rotation are converted in degrees.

The following code

// Create a pose vector
vpPoseVector r(1, 2, 3, M_PI, -M_PI, 0);
r.print();

produces the output:

1 2 3 180 -180 0

See also: std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)

Definition at line 341 of file vpPoseVector.cpp.

References vpMath::deg().

Referenced by vpViewer::resize().

◆ print() [2/2]

int vpPoseVector::print	(	std::ostream &	s,
		unsigned int	length,
		char const *	intro = `0`
	)		const

Pretty print a pose vector. The data are tabulated. The common widths before and after the decimal point are set with respect to the parameter maxlen.

Parameters

s	Stream used for the printing.
length	The suggested width of each vector element. The actual width grows in order to accomodate the whole integral part, and shrinks if the whole extent is not needed for all the numbers.
intro	The introduction which is printed before the vector. Can be set to zero (or omitted), in which case the introduction is not printed.

Returns: Returns the common total width for all vector elements.

See also: std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)

Definition at line 422 of file vpPoseVector.cpp.

References vpArray2D< double >::getRows(), and vpMath::maximum().

◆ resize() [1/2]

void vpArray2D< double >::resize	(	const unsigned int	nrows,
		const unsigned int	ncols,
		const bool	flagNullify = `true`,
		const bool	recopy_ = `true`
	)

inlineinherited

Set the size of the array and initialize all the values to zero.

Parameters

nrows	: number of rows.
ncols	: number of column.
flagNullify	: if true, then the array is re-initialized to 0 after resize. If false, the initial values from the common part of the array (common part between old and new version of the array) are kept. Default value is true.
recopy_	: if true, will perform an explicit recopy of the old data if needed and if flagNullify is set to false.

Examples:: testArray2D.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 171 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::dsize, vpException::memoryAllocationError, vpArray2D< Type >::rowNum, and vpArray2D< Type >::rowPtrs.

Referenced by vpMatrix::diag(), vpMatrix::eye(), vpMatrix::init(), vpMatrix::operator=(), and vpMatrix::stack().

◆ resize() [2/2]

void vpPoseVector::resize	(	const unsigned int	nrows,
		const unsigned int	ncols,
		const bool	flagNullify = `true`
	)

inline

This function is not applicable to a pose vector that is always a 6-by-1 column vector.

Exceptions

vpException::fatalError When this function is called.

Definition at line 185 of file vpPoseVector.h.

References vpException::fatalError, and vpArray2D< Type >::save().

◆ save() [1/2]

void vpPoseVector::save ( std::ofstream & f ) const

Save the pose vector in the output file stream.

Parameters

f	: Output file stream. Should be open before entering in this method.

Exceptions

vpException::ioError : If the output stream is not open.

See also: load()

Definition at line 362 of file vpPoseVector.cpp.

References vpException::ioError.

Referenced by vpViewer::resize().

◆ save() [2/2]

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 508 of file vpArray2D.h.

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

◆ saveYAML()

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 597 of file vpArray2D.h.

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

◆ set()

void vpPoseVector::set	(	const double	tx,
		const double	ty,
		const double	tz,
		const double	tux,
		const double	tuy,
		const double	tuz
	)

Set the 6 dimension pose vector $[\bf{t}, \theta \bf{u}]^\top$ from 3 translations and 3 $\theta \bf{u}$ angles.

Translations are expressed in meters, while rotations in radians.

Parameters

tx,ty,tz	: Translations $[t_x, t_y, t_z]^\top$ respectively along the x, y and z axis (in meters).
tux,tuy,tuz	: Rotations $[\theta u_x, \theta u_y, \theta u_z]^\top$ respectively around the x, y and z axis (in radians).

Examples:: testPoseVector.cpp.

Definition at line 155 of file vpPoseVector.cpp.

◆ size()

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, testTukeyEstimator.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 158 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpRowVector::insert(), vpColVector::insert(), vpColVector::operator*(), and vpMatrix::stack().

◆ t()

vpRowVector vpPoseVector::t ( ) const

Examples:: simulateFourPoints2DPolarCamVelocity.cpp, testAprilTag.cpp, testFindMatch.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, and testVirtuosePeriodicFunction.cpp.

Definition at line 396 of file vpPoseVector.cpp.

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

Referenced by vpHomogeneousMatrix::print().

Friends And Related Function Documentation

◆ vpGEMM()

void vpGEMM	(	const vpArray2D< double > &	A,
		const vpArray2D< double > &	B,
		const double &	alpha,
		const vpArray2D< double > &	C,
		const double &	beta,
		vpArray2D< double > &	D,
		const unsigned int &	ops = `0`
	)

For example, to compute D = alpha*A^T*B^T+beta*C we need to call :

vpGEMM(A, B, alpha, C, beta, D, VP_GEMM_A_T + VP_GEMM_B_T);

If C is not used, vpGEMM must be called using an empty array null. Thus to compute D = alpha*A^T*B, we have to call:

vpGEMM(A, B, alpha, null, 0, D, VP_GEMM_B_T);

Exceptions

vpException::incorrectMatrixSizeError if the sizes of the matrices do not allow the operations.

Parameters

A	: An array that could be a vpMatrix.
B	: An array that could be a vpMatrix.
alpha	: A scalar.
C	: An array that could be a vpMatrix.
beta	: A scalar.
D	: The resulting array that could be a vpMatrix.
ops	: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 393 of file vpGEMM.h.

References vpException::functionNotImplementedError.

◆ vpGEMMmethod

enum vpGEMMmethod

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

◆ colNum

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 76 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data

inherited

Address of the first element of the data array.

Examples:: testArray2D.cpp, testDisplacement.cpp, testMatrix.cpp, testPoseVector.cpp, and testTranslationVector.cpp.

Definition at line 84 of file vpArray2D.h.

Referenced by vpMatrix::AtA(), vpHomogeneousMatrix::buildFrom(), vpThetaUVector::buildFrom(), vpRzyzVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), vpMatrix::detByLU(), vpTranslationVector::euclideanNorm(), vpRowVector::euclideanNorm(), vpMatrix::euclideanNorm(), vpMatrix::expm(), vpThetaUVector::extract(), vpMatrix::getRow(), vpThetaUVector::getTheta(), vpThetaUVector::getU(), vpColVector::hadamard(), vpMatrix::hadamard(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpColVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholesky(), vpTranslationVector::operator*(), vpRowVector::operator*(), vpColVector::operator*(), vpHomography::operator*(), vpMatrix::operator*(), vpTranslationVector::operator-(), vpRowVector::operator-(), vpColVector::operator-(), vpTranslationVector::operator/(), vpRowVector::operator/(), vpColVector::operator/(), vpHomography::operator/(), vpHomography::operator/=(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpColVector::operator=(), vpThetaUVector::operator=(), vpMatrix::operator=(), vpColVector::operator[](), vpRowVector::reshape(), vpColVector::reshape(), vpQuaternionVector::set(), vpMatrix::stack(), vpMatrix::stackRows(), vpColVector::sum(), vpColVector::sumSquare(), vpRotationVector::t(), vpTranslationVector::t(), t(), vpRowVector::t(), vpColVector::t(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), 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().

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

◆ rowNum

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 74 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 78 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpPoseVector() [1/5]

◆ vpPoseVector() [2/5]

◆ vpPoseVector() [3/5]

◆ vpPoseVector() [4/5]

◆ vpPoseVector() [5/5]

◆ ~vpPoseVector()

Member Function Documentation

◆ buildFrom() [1/4]

◆ buildFrom() [2/4]

◆ buildFrom() [3/4]

◆ buildFrom() [4/4]

◆ extract() [1/4]

◆ extract() [2/4]

◆ extract() [3/4]

◆ extract() [4/4]

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRotationMatrix()

◆ getRows()

◆ getThetaUVector()

◆ getTranslationVector()

◆ hadamard()

◆ init()

◆ load() [1/2]

◆ load() [2/2]

◆ loadYAML()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ print() [1/2]

◆ print() [2/2]

◆ resize() [1/2]

◆ resize() [2/2]

◆ save() [1/2]

◆ save() [2/2]

◆ saveYAML()

◆ set()

◆ size()

◆ t()

Friends And Related Function Documentation

◆ vpGEMM()

◆ vpGEMMmethod

Member Data Documentation

◆ colNum

◆ data

◆ dsize

◆ rowNum

◆ rowPtrs