#include <visp3/core/vpRotationVector.h>

Inheritance diagram for vpRotationVector:

Public Member Functions
	vpRotationVector ()

	vpRotationVector (const unsigned int n)

	vpRotationVector (const vpRotationVector &v)

virtual	~vpRotationVector ()

Inherited functionalities from vpRotationVector
double &	operator[] (unsigned int i)

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

vpRotationVector &	operator= (const vpRotationVector &v)

vpColVector	operator* (double x) const

double	sumSquare () const

vpRowVector	t () const

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.)
vpColVector	operator* (const double &x, const vpRotationVector &v)

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 generic rotation vector.

Class that consider the case of a generic rotation vector (cannot be used as is !) consisting in three or four angles.

The vpRotationVector class is derived from vpArray2D<double>. The vpRotationVector class is also the base class of specific rotations vectors such as vpThetaUVector, vpRxyzVector, vpRzyxVector, vpRzyzVector and vpQuaternionVector.

The code below shows how this class can be used to manipulate a vpRxyzVector.

#include <iostream>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRxyzVector.h>
int main()
{
  vpRxyzVector r;         // By default initialized to zero
  // Rotation around x set to 45 degres converted in radians
  r[0] = vpMath::rad(45);
  // Rotation around y set to PI radians
  r[1] = M_PI;
  // Rotation around z set to 0 radians
  r[2] = 0;
  std::cout << "Rxyz rotation vector: " << r << std::endl;
  double rx = r[0];       // Get the value of the angle around x axis
  double ry = r[1];       // Get the value of the angle around y axis
  double rz = r[2];       // Get the value of the angle around z axis
}

Definition at line 100 of file vpRotationVector.h.

Constructor & Destructor Documentation

◆ vpRotationVector() [1/3]

vpRotationVector::vpRotationVector ( )

inline

Constructor that constructs a 0-size rotation vector.

Definition at line 104 of file vpRotationVector.h.

◆ vpRotationVector() [2/3]

vpRotationVector::vpRotationVector ( const unsigned int n )

inlineexplicit

Constructor that constructs a vector of size n and initialize all values to zero.

Definition at line 108 of file vpRotationVector.h.

◆ vpRotationVector() [3/3]

vpRotationVector::vpRotationVector ( const vpRotationVector & v )

inline

Copy operator.

Definition at line 113 of file vpRotationVector.h.

◆ ~vpRotationVector()

virtual vpRotationVector::~vpRotationVector ( )

inlinevirtual

Destructor.

Definition at line 118 of file vpRotationVector.h.

Member Function Documentation

◆ 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.

◆ 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(), vpPoseVector::print(), vpColVector::print(), vpMatrix::print(), and vpMatrix::pseudoInverse().

◆ 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.

◆ load()

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*()

vpColVector vpRotationVector::operator* ( double x ) const

Operator that allows to multiply each element of a rotation vector by a scalar.

Parameters

x	: The scalar.

Returns: The rotation vector multiplied by the scalar as a column vector. The current rotation vector (*this) is unchanged.

Definition at line 76 of file vpRotationVector.cpp.

References vpArray2D< double >::dsize.

Referenced by vpQuaternionVector::~vpQuaternionVector().

◆ operator=()

vpRotationVector& vpRotationVector::operator= ( const vpRotationVector & v )

inline

Affectation of two vectors.

Definition at line 137 of file vpRotationVector.h.

References vpArray2D< Type >::data, operator*(), vpArray2D< Type >::resize(), and vpArray2D< Type >::size().

Referenced by vpQuaternionVector::~vpQuaternionVector(), vpRxyzVector::~vpRxyzVector(), vpRzyxVector::~vpRzyxVector(), vpRzyzVector::~vpRzyzVector(), and vpThetaUVector::~vpThetaUVector().

◆ operator[]() [1/2]

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

inline

Operator that allows to set the value of an element of the rotation vector: r[i] = value

Definition at line 127 of file vpRotationVector.h.

◆ operator[]() [2/2]

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

inline

Operator that allows to get the value of an element of the rotation vector: value = r[i]

Definition at line 132 of file vpRotationVector.h.

◆ resize()

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().

◆ save()

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().

◆ 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().

◆ sumSquare()

double vpRotationVector::sumSquare ( ) const

Return the sum square of all the elements $r_{i}$ of the rotation vector r(m).

Returns: The value
$\sum{i=0}^{m} r_i^{2}$
.

Definition at line 102 of file vpRotationVector.cpp.

References vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

◆ t()

vpRowVector vpRotationVector::t ( ) const

Return the transpose of the rotation vector.

Examples:: testViper650.cpp, and testViper850.cpp.

Definition at line 56 of file vpRotationVector.cpp.

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

Friends And Related Function Documentation

◆ operator*()

vpColVector operator*	(	const double &	x,
		const vpRotationVector &	v
	)

Definition at line 89 of file vpRotationVector.cpp.

◆ 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(), t(), vpTranslationVector::t(), vpPoseVector::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

◆ vpRotationVector() [1/3]

◆ vpRotationVector() [2/3]

◆ vpRotationVector() [3/3]

◆ ~vpRotationVector()

Member Function Documentation

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ hadamard()

◆ load()

◆ loadYAML()

◆ operator*()

◆ operator=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ resize()

◆ save()

◆ saveYAML()

◆ size()

◆ sumSquare()

◆ t()

Friends And Related Function Documentation

◆ operator*()

◆ vpGEMM()

◆ vpGEMMmethod

Member Data Documentation

◆ colNum

◆ data

◆ dsize

◆ rowNum

◆ rowPtrs