vpTranslationVector.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Translation vector.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpTRANSLATIONVECTOR_H
#define vpTRANSLATIONVECTOR_H

#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpPoseVector.h>

class VISP_EXPORT vpTranslationVector : public vpArray2D<double>
{
public:
  vpTranslationVector() : vpArray2D<double>(3, 1){};
  vpTranslationVector(const double tx, const double ty, const double tz);
  vpTranslationVector(const vpTranslationVector &tv);
  explicit vpTranslationVector(const vpHomogeneousMatrix &M);
  explicit vpTranslationVector(const vpPoseVector &p);
  explicit 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;

  // operators

  // translation vectors additions  c = a + b (a, b  unchanged)
  vpTranslationVector operator+(const vpTranslationVector &tv) const;
  vpTranslationVector operator+(const vpColVector &v) const;
  // translation vectors substraction  c = a - b (a, b  unchanged)
  vpTranslationVector operator-(const vpTranslationVector &tv) const;
  // negate t = -a  (t is unchanged)
  vpTranslationVector operator-() const;
  vpMatrix operator*(const vpRowVector &v) const;
  // b = x * a (x=scalar)
  vpTranslationVector operator*(const double x) const;
  vpTranslationVector &operator*=(double x);
  vpTranslationVector operator/(const double x) const;
  vpTranslationVector &operator/=(double x);
  // Copy operator.   Allow operation such as A = v
  vpTranslationVector &operator=(const vpColVector &tv);
  vpTranslationVector &operator=(const vpTranslationVector &tv);

  vpTranslationVector &operator=(double x);

  inline double &operator[](unsigned int n) { return *(data + n); }
  inline const double &operator[](unsigned int n) const { return *(data + n); }

  void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify = true)
  {
    (void)nrows;
    (void)ncols;
    (void)flagNullify;
    throw(vpException(vpException::fatalError, "Cannot resize a translation vector"));
  };

  void set(const double tx, const double ty, const double tz);

  // Skew Symmetric matrix
  vpMatrix skew() const;

  double sumSquare() const;

  vpRowVector t() const;

  static vpTranslationVector cross(const vpTranslationVector &a, const vpTranslationVector &b);
  static vpTranslationVector mean(const std::vector<vpHomogeneousMatrix> &vec_M);
  static vpTranslationVector mean(const std::vector<vpTranslationVector> &vec_t);
  static vpMatrix skew(const vpTranslationVector &tv);
  static void skew(const vpTranslationVector &tv, vpMatrix &M);
};

#endif