Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
Public Member Functions | Public Attributes | Protected Attributes | Related Functions | List of all members
vpRxyzVector Class Reference
core: Core module » Mathematics » Tranformations

#include <visp3/core/vpRxyzVector.h>

+ Inheritance diagram for vpRxyzVector:

Public Member Functions

 vpRxyzVector ()
 
 vpRxyzVector (const vpRxyzVector &rxyz)
 
 vpRxyzVector (double phi, double theta, double psi)
 
 vpRxyzVector (const vpRotationMatrix &R)
 
 vpRxyzVector (const vpThetaUVector &tu)
 
 vpRxyzVector (const vpColVector &rxyz)
 
 vpRxyzVector (const std::vector< double > &rxyz)
 
virtual ~vpRxyzVector ()
 
vpRxyzVector buildFrom (const vpRotationMatrix &R)
 
vpRxyzVector buildFrom (const vpThetaUVector &tu)
 
vpRxyzVector buildFrom (const vpColVector &rxyz)
 
vpRxyzVector buildFrom (const std::vector< double > &rxyz)
 
void buildFrom (double phi, double theta, double psi)
 
vpRxyzVector & operator= (const vpColVector &rxyz)
 
vpRxyzVector & operator= (double x)
 
vpRxyzVector & operator= (const vpRxyzVector &rxyz)=default
 
vpRxyzVector & operator= (const std::initializer_list< double > &list)
 
bool operator== (const vpArray2D< float > &A) const
 
Inherited functionalities from vpRotationVector
double & operator[] (unsigned int i)
 
const double & operator[] (unsigned int i) const
 
vpColVector operator* (double x) const
 
vpRotationVector & operator<< (double val)
 
vpRotationVector & operator, (double val)
 
double sumSquare () const
 
vpRowVector t () const
 
std::vector< double > toStdVector ()
 
Inherited functionalities from vpArray2D
unsigned int getCols () const
 
double getMaxValue () const
 
double getMinValue () const
 
unsigned int getRows () const
 
unsigned int size () const
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
 
void reshape (unsigned int nrows, unsigned int ncols)
 
bool operator== (const vpArray2D< double > &A) const
 
bool operator!= (const vpArray2D< double > &A) const
 
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, 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, 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 m_index
 
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 rotation vector as $R(x,y,z)$ Euler angle minimal representation.

Class that consider the case of the Euler $(\varphi,\theta,\psi)$ angle using the x-y-z convention, where $(\varphi,\theta,\psi)$ are respectively the rotation angles around the $x$, $y$ and $z$ axis.

\[R_{xyz}(\varphi,\theta,\psi) = R_x(\varphi) \; R_y(\theta) \; R_z(\psi)\]

with

\[R_{x}(\varphi) = \left( \begin{array}{ccc} 1 & 0 & 0 \\ 0 &\cos \varphi & -\sin\varphi \\ 0 &\sin \varphi & \cos\varphi \\ \end{array} \right) \; R_{y}(\theta) = \left( \begin{array}{ccc} \cos \theta & 0 & \sin\theta\\ 0 & 1 & 0 \\ -\sin\theta & 0 &\cos \theta \end{array} \right) \; R_{z}(\psi) = \left( \begin{array}{ccc} \cos \psi & -\sin\psi & 0\\ \sin\psi &\cos \psi& 0 \\ 0 & 0 & 1 \end{array} \right)\]

The rotation matrix corresponding to the x-y-z convention is given by:

\[ R_{xyz}(\varphi,\theta,\psi) = \left( \begin{array}{ccc} \cos\theta \cos\psi & -\cos\theta \sin\psi & \sin\theta \\ \sin\varphi \sin\theta \cos\psi + \cos\varphi\sin\psi & -\sin\varphi \sin\theta \sin\psi +\cos\varphi\cos\psi & -\sin\varphi \cos\theta \\ -\cos\varphi \sin\theta \cos\psi + \sin\varphi\sin\psi & \cos\varphi \sin\theta \sin\psi +\sin\varphi\cos\psi & \cos\varphi \cos\theta \end{array} \right) \]

The vpRxyzVector class is derived from vpRotationVector.

From the implementation point of view, it is nothing more than an array of three doubles with values in [rad].

You can set values [rad] accessing each element:

vpRxyzVector rxyz;
rxyz[0] = M_PI_4;
rxyz[1] = M_PI_2;
rxyz[2] = M_PI;

You can also initialize the vector using operator<<(double):

rxyz << M_PI_4, M_PI_2, M_PI;

Or you can also initialize the vector from a list of doubles if ViSP is build with c++11 enabled:

#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
rxyz = {M_PI_4, M_PI_2, M_PI};
#endif

To get the values [rad] use:

double rx = rxyz[0];
double ry = rxyz[1];
double rz = rxyz[2];

The code below shows first how to initialize this representation of Euler angles, than how to contruct a rotation matrix from a vpRxyzVector and finaly how to extract the vpRxyzVector Euler angles from the build rotation matrix.

#include <iostream>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRxyzVector.h>
int main()
{
vpRxyzVector rxyz;
// Initialise the Euler angles
rxyz[0] = vpMath::rad( 45.f); // phi angle in rad around x axis
rxyz[1] = vpMath::rad(-30.f); // theta angle in rad around y axis
rxyz[2] = vpMath::rad( 90.f); // psi angle in rad around z axis
// Construct a rotation matrix from the Euler angles
vpRotationMatrix R(rxyz);
// Extract the Euler angles around x,y,z axis from a rotation matrix
rxyz.buildFrom(R);
// Print the extracted Euler angles. Values are the same than the
// one used for initialization
std::cout << rxyz;
// Since the rotation vector is 3 values column vector, the
// transpose operation produce a row vector.
vpRowVector rxyz_t = rxyz.t();
// Print the transpose row vector
std::cout << rxyz_t << std::endl;
}
Examples:
AROgreBasic.cpp, exponentialMap.cpp, HelloWorldOgre.cpp, manGeometricFeatures.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoBebop2.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testDisplays.cpp, testImageDraw.cpp, testMatrixInitialization.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850Pose.cpp, testTwistMatrix.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 183 of file vpRxyzVector.h.

Constructor & Destructor Documentation

◆ vpRxyzVector() [1/7]

vpRxyzVector::vpRxyzVector ( )

Default constructor that initialize all the 3 angles to zero.

Definition at line 52 of file vpRxyzVector.cpp.

◆ vpRxyzVector() [2/7]

vpRxyzVector::vpRxyzVector ( const vpRxyzVector &  rxyz)

Copy constructor.

Definition at line 55 of file vpRxyzVector.cpp.

◆ vpRxyzVector() [3/7]

vpRxyzVector::vpRxyzVector ( double  phi,
double  theta,
double  psi 
)

Constructor from 3 angles (in radian).

Parameters
phi: $\varphi$ angle around the $x$ axis.
theta: $\theta$ angle around the $y$ axis.
psi: $\psi$ angle around the $z$ axis.

Definition at line 63 of file vpRxyzVector.cpp.

References buildFrom().

◆ vpRxyzVector() [4/7]

vpRxyzVector::vpRxyzVector ( const vpRotationMatrix &  R)
explicit

Constructor that initialize $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles from a rotation matrix.

Parameters
R: Rotation matrix used to initialize the Euler angles.

Definition at line 73 of file vpRxyzVector.cpp.

References buildFrom().

◆ vpRxyzVector() [5/7]

vpRxyzVector::vpRxyzVector ( const vpThetaUVector &  tu)
explicit

Constructor that initialize $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector from a $\theta {\bf u}$ vector.

Parameters
tu: $\theta {\bf u}$ representation of a rotation used here as input to initialize the Euler angles.

Definition at line 81 of file vpRxyzVector.cpp.

References buildFrom().

◆ vpRxyzVector() [6/7]

vpRxyzVector::vpRxyzVector ( const vpColVector &  rxyz)
explicit

Copy constructor from a 3-dimension vector.

Definition at line 84 of file vpRxyzVector.cpp.

References buildFrom().

◆ vpRxyzVector() [7/7]

vpRxyzVector::vpRxyzVector ( const std::vector< double > &  rxyz)
explicit

Copy constructor from a 3-dimension vector.

Definition at line 90 of file vpRxyzVector.cpp.

References buildFrom().

◆ ~vpRxyzVector()

virtual vpRxyzVector::~vpRxyzVector ( )
inlinevirtual

Destructor.

Definition at line 199 of file vpRxyzVector.h.

References vpRotationVector::operator=().

Member Function Documentation

◆ buildFrom() [1/5]

vpRxyzVector vpRxyzVector::buildFrom ( const vpRotationMatrix &  R)

Convert a rotation matrix into a $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector.

Parameters
R: Rotation matrix used as input.
Returns
$R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector.
Examples:
servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, and testRobotViper850Pose.cpp.

Definition at line 102 of file vpRxyzVector.cpp.

Referenced by buildFrom(), vpRobotAfma6::getDisplacement(), vpSimulatorCamera::getPosition(), vpRobotCamera::getPosition(), vpSimulatorPioneer::getPosition(), vpSimulatorPioneerPan::getPosition(), vpRobotAfma4::getPosition(), vpRobotAfma6::getPosition(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpViper::set_eMc(), vpAfma6::set_eMc(), vpRobotAfma6::setPosition(), vpRxyzVector(), and vpPioneer::~vpPioneer().

◆ buildFrom() [2/5]

vpRxyzVector vpRxyzVector::buildFrom ( const vpThetaUVector &  tu)

Convert a $\theta {\bf u}$ vector into a $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector.

Parameters
tu: $\theta {\bf u}$ representation of a rotation used here as input.
Returns
$R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector.

Definition at line 128 of file vpRxyzVector.cpp.

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

◆ buildFrom() [3/5]

vpRxyzVector vpRxyzVector::buildFrom ( const vpColVector &  rxyz)

Construct a $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector from a 3-dim vector.

Definition at line 153 of file vpRxyzVector.cpp.

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

◆ buildFrom() [4/5]

vpRxyzVector vpRxyzVector::buildFrom ( const std::vector< double > &  rxyz)

Construct a $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector from a 3-dim vector.

Definition at line 168 of file vpRxyzVector.cpp.

References vpArray2D< double >::data, and vpException::dimensionError.

◆ buildFrom() [5/5]

void vpRxyzVector::buildFrom ( double  phi,
double  theta,
double  psi 
)

Construction from 3 angles (in radian).

Parameters
phi: $\varphi$ angle around the $x$ axis.
theta: $\theta$ angle around the $y$ axis.
psi: $\psi$ angle around the $z$ axis.

Definition at line 143 of file vpRxyzVector.cpp.

References vpArray2D< double >::data.

◆ 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, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 279 of file vpArray2D.h.

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

Referenced by vpMatrix::cond(), vpRowVector::cppPrint(), vpMatrix::cppPrint(), vpRowVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpRotationMatrix::isARotationMatrix(), 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(), vpMatrix::row(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

◆ getMaxValue()

double vpArray2D< double >::getMaxValue ( ) const
inherited

Return the array max value.

Examples:
servoMomentImage.cpp, and testArray2D.cpp.

Definition at line 913 of file vpArray2D.h.

References vpArray2D< Type >::data.

◆ getMinValue()

double vpArray2D< double >::getMinValue ( ) const
inherited

Return the array min value.

Examples:
servoMomentImage.cpp, and testArray2D.cpp.

Definition at line 896 of file vpArray2D.h.

References vpArray2D< Type >::data.

◆ getRows()

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

Return the number of rows of the 2D array.

See also
getCols(), size()
Examples:
mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, tutorial-matlab.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 289 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpMatrix::column(), vpMatrix::cond(), vpColVector::cppPrint(), vpMatrix::cppPrint(), vpColVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpRotationMatrix::isARotationMatrix(), 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(), vpMatrix::pseudoInverse(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

◆ 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 933 of file vpArray2D.h.

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

◆ load()

static bool vpArray2D< double >::load ( const std::string &  filename,
vpArray2D< double > &  A,
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 541 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()
Examples:
servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 653 of file vpArray2D.h.

References vpArray2D< Type >::resize().

◆ operator!=()

bool vpArray2D< double >::operator!= ( const vpArray2D< double > &  A) const
inherited

Not equal to comparison operator of a 2D array.

Definition at line 994 of file vpArray2D.h.

◆ operator*()

vpColVector vpRotationVector::operator* ( double  x) const
inherited

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 89 of file vpRotationVector.cpp.

References vpArray2D< double >::dsize.

Referenced by vpQuaternionVector::~vpQuaternionVector().

◆ operator,()

vpRotationVector & vpRotationVector::operator, ( double  val)
inherited

Set vector second and third element values.

Parameters
val: Value of the vector element [rad].
Returns
An updated vector.

The following example shows how to initialize a $\theta_u$ vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
int main()
{
vpThetaUVector tu;
tu << 0, M_PI_2, M_PI;
std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654
See also
operator<<()

Definition at line 162 of file vpRotationVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpRotationVector::m_index, and vpArray2D< double >::size().

◆ operator<<()

vpRotationVector & vpRotationVector::operator<< ( double  val)
inherited

Set vector first element value.

Parameters
val: Value of the vector first element [rad].
Returns
An updated vector.

The following example shows how to initialize a $\theta_u$ vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
int main()
{
vpThetaUVector tu;
tu << 0, M_PI_2, M_PI;
std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654
See also
operator,()

Definition at line 132 of file vpRotationVector.cpp.

References vpArray2D< double >::data, and vpRotationVector::m_index.

◆ operator=() [1/4]

vpRxyzVector & vpRxyzVector::operator= ( const vpColVector &  rxyz)

Copy operator that initializes a $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector from a 3-dimension column vector.

Parameters
rxyz: 3-dimension vector containing the values of the rotation vector.
#include <visp3/core/vpRxyzVector.h>
int main()
{
vpColVector v(3);
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
vpRxyzVector rxyz;
rxyz = v;
// rxyz is now equal to v : 0.1, 0.2, 0.3
}

Definition at line 230 of file vpRxyzVector.cpp.

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

◆ operator=() [2/4]

vpRxyzVector & vpRxyzVector::operator= ( double  v)

Initialize each element of the vector to the same angle value v.

Parameters
v: Angle value to set for each element of the vector.
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRxyzVector.h>
int main()
{
vpRxyzVector v;
// Initialise the rotation vector
v = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}

Definition at line 199 of file vpRxyzVector.cpp.

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

◆ operator=() [3/4]

vpRxyzVector& vpRxyzVector::operator= ( const vpRxyzVector &  rxyz)
default

◆ operator=() [4/4]

vpRxyzVector & vpRxyzVector::operator= ( const std::initializer_list< double > &  list)

Set vector from a list of 3 double angle values in radians.

#include <visp3/core/vpRxyzVector.cpp>
int main()
{
vpRxyzVector rxyz = {M_PI, 0, M_PI_2};
std::cout << "rxyz: " << rxyz.t() << std::endl;
}

It produces the following printings:

rxyz: 3.141592654 0 1.570796327
See also
operator<<()

Definition at line 260 of file vpRxyzVector.cpp.

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

◆ operator==() [1/2]

bool vpArray2D< double >::operator== ( const vpArray2D< double > &  A) const
inherited

Equal to comparison operator of a 2D array.

Definition at line 949 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< Type >::operator==(), vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().

◆ operator==() [2/2]

bool vpArray2D< float >::operator== ( const vpArray2D< float > &  A) const
inlineinherited

Definition at line 979 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().

◆ operator[]() [1/2]

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

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
inlineinherited

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.

◆ reshape()

void vpArray2D< double >::reshape ( unsigned int  nrows,
unsigned int  ncols 
)
inlineinherited
Examples:
testMatrixInitialization.cpp.

Definition at line 380 of file vpArray2D.h.

References vpException::dimensionError, vpArray2D< Type >::dsize, vpArray2D< Type >::operator!=(), vpArray2D< Type >::operator==(), vpArray2D< Type >::resize(), and vpArray2D< Type >::rowPtrs.

◆ resize()

void vpArray2D< double >::resize ( unsigned int  nrows,
unsigned int  ncols,
bool  flagNullify = true,
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, testMatrixConditionNumber.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 305 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,(), vpMatrix::operator<<(), vpMatrix::operator=(), vpMatrix::stack(), and vpMatrix::svdOpenCV().

◆ save()

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< double > &  A,
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 738 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()
Examples:
tutorial-chessboard-pose.cpp, tutorial-franka-acquire-calib-data.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 831 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, testEigenConversion.cpp, testMatrix.cpp, testMatrixInitialization.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 291 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpRowVector::insert(), vpColVector::insert(), vpColVector::operator*(), vpRotationVector::operator,(), vpTranslationVector::operator,(), vpRotationMatrix::operator,(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), operator=(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpThetaUVector::operator=(), vpMatrix::stack(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), and vpColVector::toStdVector().

◆ sumSquare()

double vpRotationVector::sumSquare ( ) const
inherited

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

Returns
The value

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

.
Examples:
servoFrankaPBVS.cpp.

Definition at line 178 of file vpRotationVector.cpp.

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

◆ t()

vpRowVector vpRotationVector::t ( ) const
inherited

Return the transpose of the rotation vector.

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

Definition at line 56 of file vpRotationVector.cpp.

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

◆ toStdVector()

std::vector< double > vpRotationVector::toStdVector ( )
inherited

Converts the vpRotationVector to a std::vector.

Returns
The corresponding std::vector<double>.

Definition at line 70 of file vpRotationVector.cpp.

References vpArray2D< double >::data, and vpArray2D< double >::size().

Friends And Related Function Documentation

◆ operator*()

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

Allows to multiply a scalar by rotaion vector.

Definition at line 102 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 
)
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 137 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUGsl(), vpMatrix::detByLULapack(), vpMatrix::detByLUOpenCV(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpMatrix::eye(), vpMatrix::getDiag(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUGsl(), vpMatrix::inverseByLULapack(), vpMatrix::inverseByLUOpenCV(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpRotationMatrix::operator*(), vpRowVector::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpRowVector::operator*=(), vpMatrix::operator*=(), vpRowVector::operator+(), vpRowVector::operator+=(), vpMatrix::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::operator==(), vpColVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpRowVector::reshape(), vpMatrix::setIdentity(), vpMatrix::solveByQR(), vpMatrix::solveBySVD(), vpMatrix::stack(), vpRowVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpRowVector::sum(), vpMatrix::sum(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), vpRowVector::t(), vpMatrix::transpose(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ data

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

Examples:
testArray2D.cpp, testDisplacement.cpp, testEigenConversion.cpp, testImageFilter.cpp, testMatrix.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 145 of file vpArray2D.h.

Referenced by vpMatrix::AtA(), vpQuaternionVector::buildFrom(), vpHomogeneousMatrix::buildFrom(), vpThetaUVector::buildFrom(), vpRzyzVector::buildFrom(), buildFrom(), vpRzyxVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUOpenCV(), vpMatrix::expm(), vpThetaUVector::extract(), vpMatrix::frobeniusNorm(), vpMatrix::getRow(), vpThetaUVector::getTheta(), vpThetaUVector::getU(), vpColVector::hadamard(), vpMatrix::hadamard(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpColVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUOpenCV(), vpTranslationVector::operator*(), vpRowVector::operator*(), vpHomography::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpRotationVector::operator,(), vpTranslationVector::operator,(), vpRotationMatrix::operator,(), vpRowVector::operator,(), vpColVector::operator,(), vpTranslationVector::operator-(), vpRowVector::operator-(), vpColVector::operator-(), vpTranslationVector::operator/(), vpRowVector::operator/(), vpHomography::operator/(), vpColVector::operator/(), vpHomography::operator/=(), vpRotationVector::operator<<(), vpTranslationVector::operator<<(), vpRotationMatrix::operator<<(), vpRowVector::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRotationMatrix::operator=(), operator=(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpRowVector::operator=(), vpThetaUVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::operator==(), vpColVector::operator==(), vpColVector::operator[](), vpMatrix::qr(), vpMatrix::qrPivot(), vpRowVector::reshape(), vpColVector::reshape(), vpQuaternionVector::set(), vpMatrix::stack(), vpMatrix::stackRows(), vpColVector::sum(), vpColVector::sumSquare(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpRotationVector::t(), vpTranslationVector::t(), vpPoseVector::t(), vpRowVector::t(), vpColVector::t(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), vpColVector::toStdVector(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), vpRowVector::vpRowVector(), 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 141 of file vpArray2D.h.

Referenced by vpColVector::clear(), vpMatrix::frobeniusNorm(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::inducedL2Norm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRotationVector::operator*(), vpTranslationVector::operator*(), vpTranslationVector::operator-(), vpTranslationVector::operator/(), vpRotationMatrix::operator=(), operator=(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpThetaUVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::reshape(), vpColVector::reshape(), vpRotationVector::t(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ m_index

unsigned int vpRotationVector::m_index
protectedinherited

Definition at line 161 of file vpRotationVector.h.

Referenced by vpRotationVector::operator,(), and vpRotationVector::operator<<().

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 135 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUGsl(), vpMatrix::detByLULapack(), vpMatrix::detByLUOpenCV(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpColVector::extract(), vpMatrix::eye(), vpMatrix::getCol(), vpMatrix::getDiag(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpColVector::infinityNorm(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUGsl(), vpMatrix::inverseByLULapack(), vpMatrix::inverseByLUOpenCV(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpTranslationVector::operator*(), vpRotationMatrix::operator*(), vpHomogeneousMatrix::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpTranslationVector::operator*=(), vpRotationMatrix::operator*=(), vpColVector::operator*=(), vpMatrix::operator*=(), vpColVector::operator+(), vpColVector::operator+=(), vpMatrix::operator+=(), vpColVector::operator,(), vpColVector::operator-(), vpColVector::operator-=(), vpMatrix::operator-=(), vpColVector::operator/(), vpMatrix::operator/(), vpTranslationVector::operator/=(), vpColVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::operator==(), vpColVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpColVector::reshape(), vpMatrix::setIdentity(), vpMatrix::stack(), vpColVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpColVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), vpTranslationVector::sumSquare(), vpColVector::sumSquare(), vpMatrix::sumSquare(), vpTranslationVector::t(), vpPoseVector::t(), vpColVector::t(), vpMatrix::transpose(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 139 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/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubMatrix::operator=(), vpRotationMatrix::operator=(), vpForceTwistMatrix::operator=(), vpHomogeneousMatrix::operator=(), vpVelocityTwistMatrix::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpMatrix::stack(), vpMatrix::stackColumns(), vpRowVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), vpTranslationVector::sumSquare(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().