#include <visp3/core/vpArray2D.h>

Public Member Functions
	vpArray2D ()

	vpArray2D (const vpArray2D< Type > &A)

	vpArray2D (unsigned int r, unsigned int c)

	vpArray2D (unsigned int r, unsigned int c, Type val)

virtual	~vpArray2D ()

Static Public Member Functions
Inherited I/O from vpArray2D with Static Public Member Functions
static bool	load (const std::string &filename, vpArray2D< Type > &A, const bool binary=false, char *header=NULL)

static bool	loadYAML (const std::string &filename, vpArray2D< Type > &A, char *header=NULL)

static bool	save (const std::string &filename, const vpArray2D< Type > &A, const bool binary=false, const char *header="")

static bool	saveYAML (const std::string &filename, const vpArray2D< Type > &A, const char *header="")

Public Attributes
Type *	data

Protected Attributes
unsigned int	rowNum

unsigned int	colNum

Type **	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)

Inherited functionalities from vpArray2D
std::ostream &	operator<< (std::ostream &s, const vpArray2D< Type > &A)

unsigned int	getCols () const

Type	getMaxValue () const

Type	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< Type > &	operator= (Type x)

vpArray2D< Type > &	operator= (const vpArray2D< Type > &A)

Type *	operator[] (unsigned int i)

Type *	operator[] (unsigned int i) const

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

Detailed Description

template<class Type>
class vpArray2D< Type >

Implementation of a generic 2D array used as vase class of matrices and vectors.

This class implements a 2D array as a template class and all the basic functionalities common to matrices and vectors. More precisely:

concerning matrices, vpMatrix but also specific containers such as twist (vpVelocityTwistMatrix and vpForceTwistMatrix), homogeneous (vpHomogeneousMatrix), rotation (vpRotationMatrix) and homography (vpHomography) matrices inherit from vpArray2D<double>.
concerning vectors, vpColVector, vpRowVector but also specific containers describing the pose (vpPoseVector) and the rotation (vpRotationVector) inherit also from vpArray2D<double>.

Examples:: testArray2D.cpp, and testUndistortImage.cpp.

Definition at line 70 of file vpArray2D.h.

Constructor & Destructor Documentation

template<class Type>

vpArray2D< Type >::vpArray2D ( )

inline

Basic constructor of a 2D array. Number of columns and rows are set to zero.

Definition at line 91 of file vpArray2D.h.

template<class Type>

vpArray2D< Type >::vpArray2D ( const vpArray2D< Type > & A )

inline

Copy constructor of a 2D array.

Definition at line 95 of file vpArray2D.h.

template<class Type>

vpArray2D< Type >::vpArray2D	(	unsigned int	r,
		unsigned int	c
	)

inline

Constructor that initializes a 2D array with 0.

Parameters

r	: Array number of rows.
c	: Array number of columns.

Definition at line 106 of file vpArray2D.h.

template<class Type>

vpArray2D< Type >::vpArray2D	(	unsigned int	r,
		unsigned int	c,
		Type	val
	)

inline

Constructor that initialize a 2D array with val.

Parameters

r	: Array number of rows.
c	: Array number of columns.
val	: Each element of the array is set to val.

Definition at line 117 of file vpArray2D.h.

template<class Type>

virtual vpArray2D< Type >::~vpArray2D ( )

inlinevirtual

Destructor that desallocate memory.

Definition at line 125 of file vpArray2D.h.

Member Function Documentation

template<class Type>

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

inline

Return the number of columns of the 2D array.

See also: getRows(), size()

Definition at line 146 of file vpArray2D.h.

Referenced by vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpRotationMatrix::buildFrom(), vpQuadProg::checkDimensions(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpLinProg::colReduction(), vpServo::computeControlLaw(), vpMatrix::computeCovarianceMatrix(), vpMatrix::computeHLM(), vpServo::computeInteractionMatrix(), vpMbTracker::computeJTR(), vpServo::computeProjectionOperators(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSPoseEstimation(), vpMatrix::cond(), vpMatrix::conv2(), vpMatrix::expm(), vpImageFilter::filter(), vpQuadProg::fromCanonicalCost(), vpImageSimulator::getImage(), vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), vpColVector::hadamard(), vpArray2D< Type >::hadamard(), vpMatrix::hadamard(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::init(), vpMatrix::init(), vpCameraParameters::initFromCalibrationMatrix(), vpRowVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::juxtaposeMatrices(), vpMatrix::kron(), vpRowVector::mean(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpRotationMatrix::operator*(), vpTranslationVector::operator*(), vpForceTwistMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpRowVector::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpMatrix::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpMatrix::operator-=(), vpSubRowVector::operator=(), vpSubColVector::operator=(), vpSubMatrix::operator=(), vpRotationMatrix::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpHomography::operator=(), vpMatrix::printSize(), vpIoTools::readConfigVar(), vpRowVector::reshape(), vpColVector::reshape(), vpLinProg::rowReduction(), vpArray2D< double >::save(), vpArray2D< double >::saveYAML(), vpServo::secondaryTask(), vpServo::secondaryTaskJointLimitAvoidance(), vpServo::setInteractionMatrixType(), vpQuadProg::solveByProjection(), vpLinProg::solveLP(), vpQuadProg::solveQP(), vpQuadProg::solveQPe(), vpQuadProg::solveQPi(), vpRowVector::stack(), vpMatrix::stack(), vpMatrix::stackRows(), vpMatrix::sub2Matrices(), vpMatrix::svdEigen3(), vpMbGenericTracker::track(), vpColVector::vpColVector(), and vpRowVector::vpRowVector().

template<class Type >

Type vpArray2D< Type >::getMaxValue ( ) const

Return the array max value.

Definition at line 694 of file vpArray2D.h.

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

Referenced by vpArray2D< double >::getCols().

template<class Type >

Type vpArray2D< Type >::getMinValue ( ) const

Return the array min value.

Definition at line 677 of file vpArray2D.h.

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

Referenced by vpArray2D< double >::getCols().

template<class Type>

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

inline

Return the number of rows of the 2D array.

See also: getCols(), size()

Definition at line 156 of file vpArray2D.h.

template<class Type>

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

Compute the Hadamard product (element wise matrix multiplication).

Parameters

m	: Second matrix;

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

Definition at line 714 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.

Referenced by vpMatrix::clear(), and vpColVector::extract().

template<class Type>

static bool vpArray2D< Type >::load	(	const std::string &	filename,
		vpArray2D< Type > &	A,
		const bool	binary = `false`,
		char *	header = `NULL`
	)

inlinestatic

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 322 of file vpArray2D.h.

Referenced by vpMatrix::loadMatrix(), vpHomogeneousMatrix::~vpHomogeneousMatrix(), vpHomography::~vpHomography(), and vpPoseVector::~vpPoseVector().

template<class Type>

static bool vpArray2D< Type >::loadYAML	(	const std::string &	filename,
		vpArray2D< Type > &	A,
		char *	header = `NULL`
	)

inlinestatic

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 434 of file vpArray2D.h.

Referenced by vpMatrix::loadMatrixYAML().

template<class Type>

vpArray2D<Type>& vpArray2D< Type >::operator= ( Type x )

inline

Set all the elements of the array to x.

Definition at line 247 of file vpArray2D.h.

Referenced by vpMatrix::clear(), vpRowVector::operator[](), vpColVector::operator[](), vpTranslationVector::vpTranslationVector(), vpForceTwistMatrix::~vpForceTwistMatrix(), vpHomogeneousMatrix::~vpHomogeneousMatrix(), vpHomography::~vpHomography(), vpRotationMatrix::~vpRotationMatrix(), and vpVelocityTwistMatrix::~vpVelocityTwistMatrix().

template<class Type>

vpArray2D<Type>& vpArray2D< Type >::operator= ( const vpArray2D< Type > & A )

inline

Copy operator of a 2D array.

Definition at line 256 of file vpArray2D.h.

template<class Type>

Type* vpArray2D< Type >::operator[] ( unsigned int i )

inline

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 266 of file vpArray2D.h.

template<class Type>

Type* vpArray2D< Type >::operator[] ( unsigned int i ) const

inline

Get element $x = A_{ij}$ using x = A[i][j].

Definition at line 268 of file vpArray2D.h.

template<class Type>

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

inline

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.

Definition at line 171 of file vpArray2D.h.

template<class Type>

static bool vpArray2D< Type >::save	(	const std::string &	filename,
		const vpArray2D< Type > &	A,
		const bool	binary = `false`,
		const char *	header = `""`
	)

inlinestatic

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 519 of file vpArray2D.h.

Referenced by vpPoseVector::resize(), vpHomography::resize(), vpMatrix::saveMatrix(), and vpHomogeneousMatrix::~vpHomogeneousMatrix().

template<class Type>

static bool vpArray2D< Type >::saveYAML	(	const std::string &	filename,
		const vpArray2D< Type > &	A,
		const char *	header = `""`
	)

inlinestatic

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 612 of file vpArray2D.h.

Referenced by vpMatrix::saveMatrixYAML().

template<class Type>

unsigned int vpArray2D< Type >::size ( ) const

inline

Return the number of elements of the 2D array.

Definition at line 158 of file vpArray2D.h.

Referenced by vpVirtuose::addForce(), vpForceTorqueAtiSensor::bias(), vpQuaternionVector::buildFrom(), vpTranslationVector::buildFrom(), vpRzyzVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpThetaUVector::buildFrom(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpColVector::dotProd(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), vpRobotFranka::get_fJe(), vpRobotFranka::get_fMe(), vpForceTorqueAtiSensor::getForceTorque(), vpPoint::getWorldCoordinates(), vpRowVector::insert(), vpColVector::insert(), vpMatrix::insert(), vpRowVector::mean(), vpColVector::mean(), vpRowVector::median(), vpColVector::median(), vpColVector::operator*(), vpHomography::operator*(), vpTranslationVector::operator+(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRotationVector::operator=(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpThetaUVector::operator=(), vpPlot::plot(), vpMatrix::pseudoInverse(), vpRobot::saturateVelocities(), vpServo::secondaryTaskJointLimitAvoidance(), vpImageFilter::sepFilter(), vpVirtuose::setArticularForce(), vpVirtuose::setArticularPosition(), vpVirtuose::setArticularVelocity(), vpServo::setCameraDoF(), vpVirtuose::setForce(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpVirtuose::setVelocity(), vpRobotFranka::setVelocity(), vpPoint::setWorldCoordinates(), vpQuadProg::solveQPi(), vpMatrix::stack(), vpRowVector::stdev(), vpColVector::stdev(), vpMatrix::svdEigen3(), vpForceTorqueAtiSensor::unbias(), vpColVector::vpColVector(), vpTranslationVector::vpTranslationVector(), and vpTemplateTrackerWarp::warpTriangle().

Friends And Related Function Documentation

template<class Type>

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

friend

Writes the given array to the output stream and returns a reference to the output stream.

Definition at line 275 of file vpArray2D.h.

Referenced by vpMatrix::clear(), vpRowVector::operator[](), and vpColVector::operator[]().

template<class Type>

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.

Examples:: testMatrix.cpp.

Definition at line 393 of file vpGEMM.h.

References vpException::functionNotImplementedError.

template<class Type>

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

template<class Type>

unsigned int vpArray2D< Type >::colNum

protected

template<class Type>

Type* vpArray2D< Type >::data

Address of the first element of the data array.

Definition at line 84 of file vpArray2D.h.

template<class Type>

unsigned int vpArray2D< Type >::dsize

protected

Current array size (rowNum * colNum)

Definition at line 80 of file vpArray2D.h.

Referenced by vpArray2D< Type >::getMaxValue(), vpArray2D< Type >::getMinValue(), vpArray2D< Type >::hadamard(), and vpArray2D< double >::resize().

template<class Type>

unsigned int vpArray2D< Type >::rowNum

protected

template<class Type>

Type** vpArray2D< Type >::rowPtrs

protected

Address of the first element of each rows.

Definition at line 78 of file vpArray2D.h.

Referenced by vpMatrix::add2Matrices(), vpMatrix::add2WeightedMatrices(), vpMatrix::mult2Matrices(), vpMatrix::multMatrixVector(), vpMatrix::negateMatrix(), vpRotationMatrix::operator*(), vpForceTwistMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpMatrix::operator+=(), vpMatrix::operator-=(), vpSubMatrix::operator=(), vpRotationMatrix::operator=(), vpHomogeneousMatrix::operator=(), vpForceTwistMatrix::operator=(), vpVelocityTwistMatrix::operator=(), vpArray2D< double >::resize(), vpMatrix::sub2Matrices(), and vpMatrix::transpose().

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Inherited functionalities from vpArray2D

Detailed Description

template<class Type> class vpArray2D< Type >

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class Type>
class vpArray2D< Type >