Visual Servoing Platform  version 3.1.0
Public Member Functions | Static Public Member Functions | Public Attributes | Protected Attributes | Related Functions | List of all members
vpTranslationVector Class Reference
core: Core module » Mathematics » Tranformations

#include <visp3/core/vpTranslationVector.h>

+ Inheritance diagram for vpTranslationVector:

Public Member Functions

 vpTranslationVector ()
 
 vpTranslationVector (const double tx, const double ty, const double tz)
 
 vpTranslationVector (const vpTranslationVector &tv)
 
 vpTranslationVector (const vpHomogeneousMatrix &M)
 
 vpTranslationVector (const vpPoseVector &p)
 
 vpTranslationVector (const vpColVector &v)
 
vpTranslationVector buildFrom (const double tx, const double ty, const double tz)
 
vpTranslationVector buildFrom (const vpHomogeneousMatrix &M)
 
vpTranslationVector buildFrom (const vpPoseVector &p)
 
vpTranslationVector buildFrom (const vpColVector &v)
 
double euclideanNorm () const
 
vpTranslationVector operator+ (const vpTranslationVector &tv) const
 
vpTranslationVector operator+ (const vpColVector &v) const
 
vpTranslationVector operator- (const vpTranslationVector &tv) const
 
vpTranslationVector operator- () const
 
vpMatrix operator* (const vpRowVector &v) const
 
vpTranslationVector operator* (const double x) const
 
vpTranslationVector & operator*= (double x)
 
vpTranslationVector operator/ (const double x) const
 
vpTranslationVector & operator/= (double x)
 
vpTranslationVector & operator= (const vpColVector &tv)
 
vpTranslationVector & operator= (const vpTranslationVector &tv)
 
vpTranslationVector & operator= (double x)
 
double & operator[] (unsigned int n)
 
const double & operator[] (unsigned int n) const
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
 
void set (const double tx, const double ty, const double tz)
 
vpMatrix skew () 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

static vpTranslationVector cross (const vpTranslationVector &a, const vpTranslationVector &b)
 
static vpMatrix skew (const vpTranslationVector &tv)
 
static void skew (const vpTranslationVector &tv, vpMatrix &M)
 
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

Class that consider the case of a translation vector.

Let us denote $^{a}{\bf t}_{b} = [t_x,t_y,t_z]^\top$ the translation from frame $ a $ to frame $ b $. The representation of a translation is a column vector of dimension 3.

Translations are expressed in meters.

The code below shows how to use a translation vector to build an homogeneous matrix.

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpTranslationVector.h>
int main()
{
vpTranslationVector t; // Translation vector
// Initialization of the translation vector
t[0] = 0.2; // tx = 0.2 meters
t[1] = -0.1; // ty = -0.1 meters
t[2] = 1.0; // tz = 1 meters
// Construction of a rotation matrix
vpRotationMatrix R; // Set to identity by default
// Construction of an homogeneous matrix
vpHomogeneousMatrix M(t, R);
}
Examples:
calibrateTsai.cpp, exponentialMap.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuSphere.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testDisplacement.cpp, testPoseRansac2.cpp, testPoseVector.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTranslationVector.cpp, testTwistMatrix.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseHapticBox.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 91 of file vpTranslationVector.h.

Constructor & Destructor Documentation

◆ vpTranslationVector() [1/6]

vpTranslationVector::vpTranslationVector ( )
inline

Default constructor. The translation vector is initialized to zero.

Definition at line 98 of file vpTranslationVector.h.

References operator*(), and vpArray2D< Type >::operator=().

◆ vpTranslationVector() [2/6]

vpTranslationVector::vpTranslationVector ( const double  tx,
const double  ty,
const double  tz 
)

Construct a translation vector $ \bf t $ from 3 doubles.

Parameters
tx,ty,tz: Translation respectively along x, y and z axis. Values are in meters.

Definition at line 57 of file vpTranslationVector.cpp.

◆ vpTranslationVector() [3/6]

vpTranslationVector::vpTranslationVector ( const vpTranslationVector &  tv)

Copy constructor.

Parameters
tv: Translation vector to copy.
vpTranslationVector t1(1,2,3); // Create and initialize a translation vector
vpTranslationVector t2(t1); // t2 is now a copy of t1

Definition at line 97 of file vpTranslationVector.cpp.

◆ vpTranslationVector() [4/6]

vpTranslationVector::vpTranslationVector ( const vpHomogeneousMatrix &  M)
explicit

Construct a translation vector $ \bf t $ from the translation contained in an homogeneous matrix.

Parameters
M: Homogeneous matrix where translations are in meters.

Definition at line 71 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

◆ vpTranslationVector() [5/6]

vpTranslationVector::vpTranslationVector ( const vpPoseVector &  p)
explicit

Construct a translation vector $ \bf t $ from the translation contained in a pose vector.

Parameters
p: Pose vector where translations are in meters.

Definition at line 80 of file vpTranslationVector.cpp.

◆ vpTranslationVector() [6/6]

vpTranslationVector::vpTranslationVector ( const vpColVector &  v)
explicit

Construct a translation vector $ \bf t $ from a 3-dimension column vector.

Parameters
v: 3-dimension column vector.
vpColVector v(3);
v[0] = 1; v[1] = 2; v[2] = 3; // Create and initialize a column vector
vpTranslationVector t(v); // t contains [1, 2, 3,]

Definition at line 113 of file vpTranslationVector.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Member Function Documentation

◆ buildFrom() [1/4]

vpTranslationVector vpTranslationVector::buildFrom ( const double  tx,
const double  ty,
const double  tz 
)

Build a 3 dimension translation vector $ \bf t$ from 3 doubles.

Parameters
tx,ty,tz: Translation respectively along x, y and z axis in meter.
Returns
The build translation vector.
See also
set()

Definition at line 187 of file vpTranslationVector.cpp.

◆ buildFrom() [2/4]

vpTranslationVector vpTranslationVector::buildFrom ( const vpHomogeneousMatrix &  M)

Build a 3 dimension translation vector $ \bf t$ 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 translation vector.

Definition at line 134 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

◆ buildFrom() [3/4]

vpTranslationVector vpTranslationVector::buildFrom ( const vpPoseVector &  p)

Build a 3 dimension translation vector $ \bf t$ from the translation contained in a pose vector.

Parameters
p: Pose vector where translations are in meters.
Returns
The build translation vector.

Definition at line 149 of file vpTranslationVector.cpp.

◆ buildFrom() [4/4]

vpTranslationVector vpTranslationVector::buildFrom ( const vpColVector &  v)

Build a 3 dimension translation vector $ \bf t$ from a 3-dimension column vector.

Parameters
v: 3-dimension column vector.
Returns
The build translation vector.

Definition at line 166 of file vpTranslationVector.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

◆ cross()

vpTranslationVector vpTranslationVector::cross ( const vpTranslationVector &  a,
const vpTranslationVector &  b 
)
static

Return the cross product of two translation vectors $a \times b$.

Parameters
a,b: Translation vectors in input.
Returns
The cross product of two translation vectors $a \times b$.
Examples:
testTranslationVector.cpp.

Definition at line 598 of file vpTranslationVector.cpp.

References skew().

◆ euclideanNorm()

double vpTranslationVector::euclideanNorm ( ) const

Compute and return the Euclidean norm of the translation vector $ ||x|| = \sqrt{ \sum{t_{i}^2}} $.

Returns
The Euclidean norm if the vector is initialized, 0 otherwise.

Definition at line 621 of file vpTranslationVector.cpp.

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

◆ 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*() [1/2]

vpMatrix vpTranslationVector::operator* ( const vpRowVector &  v) const

Multiply a 3-by-1 dimension translation vector by a 1-by-n row vector.

Parameters
v: Row vector.
Returns
The resulting matrix that is 3-by-n dimension.

Definition at line 355 of file vpTranslationVector.cpp.

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

◆ operator*() [2/2]

vpTranslationVector vpTranslationVector::operator* ( const double  x) const

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

Parameters
x: The scalar.
Returns
The translation vector multiplied by the scalar. The current translation vector (*this) is unchanged.
vpTranslationVector t1(1,2,3);
t2 = t1 * 3;
// t1 is unchanged
// t2 is now equal to : [3, 6, 9]

Definition at line 336 of file vpTranslationVector.cpp.

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

◆ operator*=()

vpTranslationVector & vpTranslationVector::operator*= ( double  x)

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

Parameters
x: The scalar.
Returns
The translation vector multiplied by the scalar.

Definition at line 374 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

◆ operator+() [1/2]

vpTranslationVector vpTranslationVector::operator+ ( const vpTranslationVector &  tv) const

Operator that allows to add two translation vectors.

Parameters
tv: Translation vector to add.
Returns
The sum of the current translation vector (*this) and the one to add.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2(4,5,6);
vpTranslationVector t3;
t3 = t2 + t1;
// t1 and t2 leave unchanged
// t3 is now equal to : 5, 7, 9

Definition at line 224 of file vpTranslationVector.cpp.

◆ operator+() [2/2]

vpTranslationVector vpTranslationVector::operator+ ( const vpColVector &  v) const

Operator that allows to add a translation vector to a column vector.

Parameters
v: 3-dimension column vector to add.
Returns
The sum of the current translation vector (*this) and the column vector to add.
vpTranslationVector t1(1,2,3);
vpColVector v(3);
v[0] = 4;
v[1] = 5;
v[2] = 6;
vpTranslationVector t2;
t2 = t1 + v;
// t1 and v leave unchanged
// t2 is now equal to : 5, 7, 9

Definition at line 254 of file vpTranslationVector.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

◆ operator-() [1/2]

vpTranslationVector vpTranslationVector::operator- ( const vpTranslationVector &  tv) const

Operator that allows to substract two translation vectors.

Parameters
tv: Translation vector to substract.
Returns
The substraction of the current translation vector (*this) and the one to substract.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2(4,5,6);
vpTranslationVector t3;
t3 = t2 - t1;
// t1 and t2 leave unchanged
// t3 is now equal to : 3, 3, 3

Definition at line 286 of file vpTranslationVector.cpp.

◆ operator-() [2/2]

vpTranslationVector vpTranslationVector::operator- ( void  ) const

Operator that allows to negate a translation vector.

Returns
The negate translation. The current translation vector (*this) is unchanged.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2;
t2 = -t1;
// t1 is unchanged
// t2 is now equal to : [-1, -2, -3]

Definition at line 310 of file vpTranslationVector.cpp.

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

◆ operator/()

vpTranslationVector vpTranslationVector::operator/ ( const double  x) const

Operator that allows to divide each element of a translation vector by a scalar.

Parameters
x: The scalar.
Returns
The translation vector divided by the scalar. The current translation vector (*this) is unchanged.
vpTranslationVector t1(8,4,2);
t2 = t1 / 2;
// t1 is unchanged
// t2 is now equal to : [4, 2, 1]

Definition at line 411 of file vpTranslationVector.cpp.

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

◆ operator/=()

vpTranslationVector & vpTranslationVector::operator/= ( double  x)

Operator that allows to divide each element of a translation vector by a scalar.

Parameters
x: The scalar.
Returns
The column vector divided by the scalar.

Definition at line 388 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

◆ operator=() [1/3]

vpTranslationVector & vpTranslationVector::operator= ( const vpColVector &  tv)

Copy operator.

Parameters
tv: Translation vector to copy
Returns
A copy of tv.
vpColVector t1(3);
t1[0] = 1;
t1[1] = 2;
t1[2] = 3;
vpTranslationVector t2;
t2 = t1;
// t1 is unchanged
// t2 is now equal to t1 : 1, 2, 3

Definition at line 437 of file vpTranslationVector.cpp.

References vpArray2D< double >::data, vpArray2D< Type >::data, vpException::dimensionError, resize(), vpArray2D< double >::rowNum, and vpArray2D< Type >::size().

◆ operator=() [2/3]

vpTranslationVector & vpTranslationVector::operator= ( const vpTranslationVector &  tv)

Copy operator.

Parameters
tv: Translation vector to copy
Returns
A copy of tv.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2;
t2 = t1;
// t1 is unchanged
// t2 is now equal to t1 : 1, 2, 3

Definition at line 471 of file vpTranslationVector.cpp.

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

◆ operator=() [3/3]

vpTranslationVector & vpTranslationVector::operator= ( double  x)

Initialize each element of a translation vector to the same value x.

Parameters
x: Value to set for each element of the translation vector.
vpTranslationVector t;
t = 3;
// Here t is set to 3,3,3

Definition at line 498 of file vpTranslationVector.cpp.

References vpArray2D< double >::data.

◆ operator[]() [1/2]

double& vpTranslationVector::operator[] ( unsigned int  n)
inline

Operator that allows to set a value of an element $t_i$: t[i] = x.

Definition at line 134 of file vpTranslationVector.h.

◆ operator[]() [2/2]

const double& vpTranslationVector::operator[] ( unsigned int  n) const
inline

Operator that allows to get the value of an element $t_i$: x = t[i].

Definition at line 136 of file vpTranslationVector.h.

◆ resize() [1/2]

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

This function is not applicable to a translation vector that is always a 3-by-1 column vector.

Exceptions
vpException::fatalErrorWhen this function is called.

Definition at line 143 of file vpTranslationVector.h.

References vpException::fatalError.

Referenced by operator=().

◆ resize() [2/2]

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().

◆ 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().

◆ set()

void vpTranslationVector::set ( const double  tx,
const double  ty,
const double  tz 
)

Initialize a translation vector from 3 doubles.

Parameters
tx,ty,tz: Translation respectively along x, y and z axis in meter.
Examples:
testTranslationVector.cpp.

Definition at line 199 of file vpTranslationVector.cpp.

Referenced by vpPioneerPan::set_mMp(), and vpPioneer::~vpPioneer().

◆ 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().

◆ skew() [1/3]

vpMatrix vpTranslationVector::skew ( ) const

Compute the skew symmetric matrix $M$ of the translation vector (matrice de pre-produit vectoriel), where

\[ M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right) \]

and where $(t_x,t_y,t_z)$ are the coordinates of the translation vector.

Returns
Skew symmetric matrix $M$ of the translation vector.
Examples:
testTranslationVector.cpp.

Definition at line 582 of file vpTranslationVector.cpp.

Referenced by vpForceTwistMatrix::buildFrom(), vpVelocityTwistMatrix::buildFrom(), vpMatrix::computeCovarianceMatrixVVS(), cross(), vpViper::get_eJe(), and skew().

◆ skew() [2/3]

vpMatrix vpTranslationVector::skew ( const vpTranslationVector &  tv)
static

Compute the skew symmetric matrix $M$ of translation vector tv.

\[ \mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z \end{array}\right), \quad \mbox{then} \qquad M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right) \]

Parameters
tv: Translation vector in input.
Returns
Skew symmetric matrix $M$ of translation vector $t$.

Definition at line 557 of file vpTranslationVector.cpp.

References skew().

◆ skew() [3/3]

void vpTranslationVector::skew ( const vpTranslationVector &  tv,
vpMatrix &  M 
)
static

Compute the skew symmetric matrix $M$ of translation vector tv.

\[ \mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z \end{array}\right), \quad \mbox{then} \qquad M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right) \]

Parameters
tv: Translation vector in input used to compute the skew symmetric matrix M.
M: Skew symmetric matrix of translation vector $t$.

Definition at line 525 of file vpTranslationVector.cpp.

References vpArray2D< Type >::resize().

◆ sumSquare()

double vpTranslationVector::sumSquare ( ) const

Return the sum square of all the elements $t_{i}$ of the translation vector t(m).

Returns
The value

\[\sum{i=0}^{m} t_i^{2}\]

.

Definition at line 638 of file vpTranslationVector.cpp.

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

◆ t()

vpRowVector vpTranslationVector::t ( ) const

Transpose the translation vector. The resulting vector becomes a row vector.

Examples:
servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, testDisplacement.cpp, testRobotViper850.cpp, testViper650.cpp, testViper850.cpp, tutorial-homography-from-points.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 607 of file vpTranslationVector.cpp.

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

Referenced by vpHomography::computeDisplacement().

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 
)
related

This function performs generalized matrix multiplication: D = alpha*op(A)*op(B) + beta*op(C), where op(X) is X or X^T. Operation on A, B and C matrices is described by enumeration vpGEMMmethod().

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::incorrectMatrixSizeErrorif 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
related

Enumeration of the operations applied on matrices in vpGEMM() function.

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.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpMatrix::eye(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholesky(), vpRotationMatrix::operator*(), vpRowVector::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpRowVector::operator*=(), vpMatrix::operator*=(), vpRowVector::operator+(), vpRowVector::operator+=(), vpMatrix::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpMatrix::operator-=(), vpRowVector::operator/(), vpMatrix::operator/(), vpRowVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::reshape(), vpMatrix::setIdentity(), vpMatrix::solveBySVD(), vpMatrix::stack(), vpRowVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpRowVector::sum(), vpMatrix::sum(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), vpRowVector::t(), vpMatrix::t(), vpMatrix::transpose(), vpColVector::vpColVector(), and vpMatrix::vpMatrix().

◆ 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(), 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(), operator*(), vpRowVector::operator*(), vpColVector::operator*(), vpHomography::operator*(), vpMatrix::operator*(), operator-(), vpRowVector::operator-(), vpColVector::operator-(), operator/(), vpRowVector::operator/(), vpColVector::operator/(), vpHomography::operator/(), vpHomography::operator/=(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), 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(), 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

Current array size (rowNum * colNum)

Definition at line 80 of file vpArray2D.h.

Referenced by vpColVector::clear(), euclideanNorm(), vpRowVector::euclideanNorm(), vpMatrix::euclideanNorm(), vpColVector::hadamard(), vpMatrix::hadamard(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), operator*(), vpRotationVector::operator*(), operator-(), operator/(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpThetaUVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::reshape(), vpColVector::reshape(), vpMatrix::stackRows(), vpRotationVector::t(), vpColVector::vpColVector(), and vpMatrix::vpMatrix().

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 74 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpColVector::extract(), vpMatrix::eye(), vpColVector::hadamard(), vpMatrix::hadamard(), vpColVector::infinityNorm(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::insert(), vpMatrix::inverseByCholesky(), vpRotationMatrix::operator*(), operator*(), vpHomogeneousMatrix::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), operator*=(), vpColVector::operator*=(), vpMatrix::operator*=(), vpColVector::operator+(), vpColVector::operator+=(), vpMatrix::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpMatrix::operator-=(), vpColVector::operator/(), vpMatrix::operator/(), operator/=(), vpColVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpColVector::reshape(), vpMatrix::setIdentity(), vpMatrix::stack(), vpColVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpColVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), sumSquare(), vpColVector::sumSquare(), vpMatrix::sumSquare(), t(), vpPoseVector::t(), vpColVector::t(), vpMatrix::t(), vpMatrix::transpose(), vpColVector::vpColVector(), and vpMatrix::vpMatrix().

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 78 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpColVector::clear(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::init(), vpColVector::init(), vpMatrix::init(), vpRotationMatrix::operator*(), vpForceTwistMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpHomogeneousMatrix::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpMatrix::operator*=(), vpMatrix::operator+=(), vpMatrix::operator-=(), vpMatrix::operator/(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubMatrix::operator=(), vpRotationMatrix::operator=(), vpHomogeneousMatrix::operator=(), vpForceTwistMatrix::operator=(), vpVelocityTwistMatrix::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpMatrix::stackColumns(), vpRowVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), sumSquare(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), vpMatrix::transpose(), vpColVector::vpColVector(), and vpMatrix::vpMatrix().