#include <vpRotationMatrix.h>

Inheritance diagram for vpRotationMatrix:

Public Member Functions
	vpRotationMatrix ()

	vpRotationMatrix (const vpRotationMatrix &R)

	vpRotationMatrix (const vpHomogeneousMatrix &M)

	vpRotationMatrix (const vpThetaUVector &r)

	vpRotationMatrix (const vpPoseVector &p)

	vpRotationMatrix (const vpRzyzVector &r)

	vpRotationMatrix (const vpRxyzVector &r)

	vpRotationMatrix (const vpRzyxVector &r)

	vpRotationMatrix (const vpQuaternionVector &q)

	vpRotationMatrix (const vpMatrix &R)

	vpRotationMatrix (double tux, double tuy, double tuz)

	vpRotationMatrix (const std::initializer_list< double > &list)

virtual	~vpRotationMatrix ()

vpRotationMatrix	buildFrom (const vpHomogeneousMatrix &M)

vpRotationMatrix	buildFrom (const vpThetaUVector &v)

vpRotationMatrix	buildFrom (const vpPoseVector &p)

vpRotationMatrix	buildFrom (const vpRzyzVector &v)

vpRotationMatrix	buildFrom (const vpRxyzVector &v)

vpRotationMatrix	buildFrom (const vpRzyxVector &v)

vpRotationMatrix	buildFrom (const vpQuaternionVector &q)

vpRotationMatrix	buildFrom (double tux, double tuy, double tuz)

void	eye ()

vpColVector	getCol (unsigned int j) const

vpThetaUVector	getThetaUVector ()

vpRotationMatrix	inverse () const

void	inverse (vpRotationMatrix &R) const

bool	isARotationMatrix () const

vpRotationMatrix &	operator= (const vpRotationMatrix &R)

vpRotationMatrix &	operator= (const vpMatrix &M)

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

vpTranslationVector	operator* (const vpTranslationVector &tv) const

vpRotationMatrix	operator* (const vpRotationMatrix &R) const

vpMatrix	operator* (const vpMatrix &M) const

vpColVector	operator* (const vpColVector &v) const

vpRotationMatrix	operator* (double x) const

vpRotationMatrix &	operator*= (double x)

vpRotationMatrix &	operator<< (double val)

vpRotationMatrix &	operator, (double val)

void	printVector ()

void	resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true)

vpRotationMatrix	t () const

Deprecated functions
vp_deprecated void	init ()

vp_deprecated void	setIdentity ()

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

double *	operator[] (unsigned int i)

double *	operator[] (unsigned int i) const

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

Static Public Member Functions
static vpRotationMatrix	mean (const std::vector< vpHomogeneousMatrix > &vec_M)

static vpRotationMatrix	mean (const std::vector< vpRotationMatrix > &vec_R)

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.)
enum	vpGEMMmethod

Detailed Description

Implementation of a rotation matrix and operations on such kind of matrices.

The vpRotationMatrix considers the particular case of a rotation matrix.

The vpRotationMatrix class is derived from vpArray2D<double>.

The code below shows how to create a rotation matrix, set the element values and access them:

#include <visp3/core/vpRotationMatrix.h>
int main()
{
  vpRotationMatrix R;
  R[0][0] =  0; R[0][1] =  0; R[0][2] = -1;
  R[1][0] =  0; R[1][1] = -1; R[1][2] =  0;
  R[2][0] = -1; R[2][1] =  0; R[2][2] =  0;
  std::cout << "R:" << std::endl;
  for (unsigned int i = 0; i < R.getRows(); i++) {
    for (unsigned int j = 0; j < R.getCols(); j++) {
      std::cout << R[i][j] << " ";
    }
    std::cout << std::endl;
  }
}

Once build, this previous code produces the following output:

R:
0 0 -1
0 -1 0
-1 0 0

You can also use operator<< to initialize a rotation matrix as previously:

#include <visp3/core/vpRotationMatrix.h>
int main()
{
  vpRotationMatrix R;
  R << 0, 0, -1, 0, -1, 0, -1, 0, 0;
  std::cout << "R:\n" << R << std::endl;
}

If ViSP is build with c++11 enabled, you can do the same using:

#include <visp3/code/vpRotationMatrix.h
int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpRotationMatrix R{ 0, 0, -1, 0, -1, 0, -1, 0, 0 };
  std::cout << "R:\n" << R << std::endl;
#endif
}

Examples:: AROgreBasic.cpp, exponentialMap.cpp, HelloWorldOgre.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoBebop2.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testDisplacement.cpp, testDisplays.cpp, testImageDraw.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTwistMatrix.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseHapticBox.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 122 of file vpRotationMatrix.h.

Constructor & Destructor Documentation

vpRotationMatrix::vpRotationMatrix ( )

Default constructor that initialise a 3-by-3 rotation matrix to identity.

Definition at line 441 of file vpRotationMatrix.cpp.

References eye().

vpRotationMatrix::vpRotationMatrix ( const vpRotationMatrix & M )

Copy contructor that construct a 3-by-3 rotation matrix from another rotation matrix.

Definition at line 447 of file vpRotationMatrix.cpp.

vpRotationMatrix::vpRotationMatrix ( const vpHomogeneousMatrix & M )

explicit

Construct a 3-by-3 rotation matrix from an homogeneous matrix.

Definition at line 451 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpThetaUVector & tu )

explicit

Construct a 3-by-3 rotation matrix from $\theta {\bf u}$ angle representation.

Definition at line 457 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpPoseVector & p )

explicit

Construct a 3-by-3 rotation matrix from a pose vector.

Definition at line 462 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpRzyzVector & euler )

explicit

Construct a 3-by-3 rotation matrix from $ R(z,y,z) $ Euler angle representation.

Definition at line 468 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpRxyzVector & Rxyz )

explicit

Construct a 3-by-3 rotation matrix from $ R(x,y,z) $ Euler angle representation.

Definition at line 474 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpRzyxVector & Rzyx )

explicit

Construct a 3-by-3 rotation matrix from $ R(z,y,x) $ Euler angle representation.

Definition at line 480 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpQuaternionVector & q )

explicit

Construct a 3-by-3 rotation matrix from quaternion angle representation.

Definition at line 499 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const vpMatrix & R )

explicit

Construct a 3-by-3 rotation matrix from a matrix that contains values corresponding to a rotation matrix.

Definition at line 485 of file vpRotationMatrix.cpp.

vpRotationMatrix::vpRotationMatrix	(	double	tux,
		double	tuy,
		double	tuz
	)

Construct a 3-by-3 rotation matrix from $\theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ angle representation.

Definition at line 491 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix::vpRotationMatrix ( const std::initializer_list< double > & list )

explicit

Construct a rotation matrix from a list of 9 double values.

Parameters

list

: List of double. The following code shows how to use this constructor to initialize a rotation matrix:

#include <visp3/core/vpRotationMatrix.h>
int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpRotationMatrix R{ 0, 0, -1, 0, -1, 0, -1, 0, 0 };
  std::cout << "R:\n" << R << std::endl;
#endif
}

It produces the following output:

Definition at line 525 of file vpRotationMatrix.cpp.

References vpException::fatalError, and isARotationMatrix().

virtual vpRotationMatrix::~vpRotationMatrix ( )

inlinevirtual

Destructor.

Definition at line 144 of file vpRotationMatrix.h.

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

Member Function Documentation

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpHomogeneousMatrix & M )

Build a rotation matrix from an homogeneous matrix.

Examples:: servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, and testRobotViper850Pose.cpp.

Definition at line 638 of file vpRotationMatrix.cpp.

Referenced by buildFrom(), vpRxyzVector::buildFrom(), vpRzyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpExponentialMap::direct(), vpPoseVector::extract(), vpRobotAfma6::setPosition(), and vpRotationMatrix().

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpThetaUVector & v )

Transform a $\theta {\bf u}$ angle representation into a rotation matrix.

The rotation is computed using :

$R = \cos{ \theta} \; {I}_{3} + (1 - \cos{ \theta}) \; u u^{T} + \sin{ \theta} \; [u]_\times$

Definition at line 606 of file vpRotationMatrix.cpp.

References vpMath::mcosc(), and vpMath::sinc().

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpPoseVector & p )

Build a rotation matrix from a pose vector.

See also: buildFrom(const vpThetaUVector &)

Definition at line 652 of file vpRotationMatrix.cpp.

References buildFrom().

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpRzyzVector & v )

Transform a vector representing the Euler angle into a rotation matrix. Rzyz( $\phi, \theta , \psi$ ) = Rot( $z,\phi$ ) Rot( $y,\theta$ ) Rot( $z,\psi$ )

Definition at line 665 of file vpRotationMatrix.cpp.

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpRxyzVector & v )

Transform a vector representing the Rxyz angle into a rotation matrix. Rxyz( $\phi,\theta, \psi$ ) = Rot( $x, \psi$ ) Rot( $y, \theta$ ) Rot( $z,\phi$ )

Definition at line 697 of file vpRotationMatrix.cpp.

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpRzyxVector & v )

Transform a vector representing the Rzyx angle into a rotation matrix. Rxyz( $\phi, \theta , \psi$ ) = Rot( $z, \psi$ ) Rot( $y, \theta$ )Rot( $x, \phi$ )

Definition at line 727 of file vpRotationMatrix.cpp.

vpRotationMatrix vpRotationMatrix::buildFrom ( const vpQuaternionVector & q )

Construct a 3-by-3 rotation matrix from a quaternion representation.

Definition at line 767 of file vpRotationMatrix.cpp.

References vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), operator*(), vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), and vpQuaternionVector::z().

vpRotationMatrix vpRotationMatrix::buildFrom	(	double	tux,
		double	tuy,
		double	tuz
	)

Construct a 3-by-3 rotation matrix from $\theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ angle representation.

Definition at line 757 of file vpRotationMatrix.cpp.

References buildFrom().

void vpRotationMatrix::eye ( )

Initialize the rotation matrix as identity.

See also: setIdentity()

Definition at line 64 of file vpRotationMatrix.cpp.

Referenced by vpHomography::computeDisplacement(), setIdentity(), and vpRotationMatrix().

vpColVector vpRotationMatrix::getCol ( unsigned int j ) const

Extract a column vector from a rotation matrix.

Warning: All the indexes start from 0 in this function.

Parameters

j	: Index of the column to extract. If j=0, the first column is extracted.

Returns: The extracted column vector.

The following example shows how to use this function:

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRotationMatrix.h>
int main()
{
  vpRotationMatrix R;
  vpColVector r = R.getCol(2);
  std::cout << "Last column: \n" << r << std::endl;
}

It produces the following output:

Last column:
0
0
1

Examples:: testVirtuoseHapticBox.cpp.

Definition at line 842 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpArray2D< double >::getCols(), and vpArray2D< double >::getRows().

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(), getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), isARotationMatrix(), vpMatrix::kernel(), vpRowVector::maplePrint(), vpMatrix::maplePrint(), vpRowVector::matlabPrint(), vpMatrix::matlabPrint(), vpMatrix::nullSpace(), 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::svdLapack(), and vpMatrix::svdOpenCV().

double vpArray2D< double >::getMaxValue ( ) const

inherited

Return the array max value.

Examples:: servoMomentImage.cpp, and testArray2D.cpp.

double vpArray2D< double >::getMinValue ( ) const

inherited

Return the array min value.

Examples:: servoMomentImage.cpp, and testArray2D.cpp.

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, and tutorial-matlab.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(), getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), isARotationMatrix(), vpMatrix::kernel(), vpColVector::maplePrint(), vpMatrix::maplePrint(), vpColVector::matlabPrint(), vpMatrix::matlabPrint(), vpMatrix::nullSpace(), vpColVector::operator+(), vpColVector::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpPoseVector::print(), vpColVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

vpThetaUVector vpRotationMatrix::getThetaUVector ( )

Return the $\theta {\bf u}$ vector that corresponds to the rotation matrix.

Definition at line 808 of file vpRotationMatrix.cpp.

References vpThetaUVector::buildFrom().

Referenced by vpRobotBebop2::setPosition().

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.

vp_deprecated void vpRotationMatrix::init ( )

inline

Deprecated:: Provided only for compat with previous releases. This function does nothing.

Definition at line 217 of file vpRotationMatrix.h.

vpRotationMatrix vpRotationMatrix::inverse ( ) const

Return the rotation matrix inverse which is also the transpose of the rotation matrix.

See also: t()

Examples:: servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, testVirtuoseAfma6.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 557 of file vpRotationMatrix.cpp.

References t().

Referenced by vpViper::get_eJe(), and inverse().

void vpRotationMatrix::inverse ( vpRotationMatrix & R ) const

Inverse the rotation matrix.

Parameters

R	(output): Inverted rotation matrix.

#include <visp3/core/vpRotationMatrix.h>
int main()
{
  vpRotationMatrix R, Rinv;
  // ... Update rotation matrix R
  // Compute the inverse in Rinv
  R.inverse(Rinv);
}

Definition at line 581 of file vpRotationMatrix.cpp.

References inverse().

bool vpRotationMatrix::isARotationMatrix ( ) const

Test if the rotation matrix is really a rotation matrix.

Definition at line 399 of file vpRotationMatrix.cpp.

References vpArray2D< double >::getCols(), vpArray2D< double >::getRows(), vpMath::sqr(), and t().

Referenced by vpHomography::computeDisplacement(), vpHomogeneousMatrix::isAnHomogeneousMatrix(), operator=(), and vpRotationMatrix().

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 540 of file vpArray2D.h.

References vpException::badValue, and vpArray2D< Type >::resize().

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 652 of file vpArray2D.h.

References vpArray2D< Type >::resize().

vpRotationMatrix vpRotationMatrix::mean ( const std::vector< vpHomogeneousMatrix > & vec_M )

static

Compute the Euclidean mean of the rotation matrices extracted from a vector of homogeneous matrices following Moakher's method (SIAM 2002).

Parameters

[in] vec_M : Set of homogeneous matrices.

Returns: The Euclidian mean of the rotation matrices.

See also: vpTranslationVector::mean()

Definition at line 861 of file vpRotationMatrix.cpp.

References vpMatrix::pseudoInverse(), and vpMatrix::t().

vpRotationMatrix vpRotationMatrix::mean ( const std::vector< vpRotationMatrix > & vec_R )

static

Compute the Euclidean mean of the rotation matrices following Moakher's method (SIAM 2002).

Parameters

[in] vec_R : Set of rotation matrices.

Returns: The Euclidian mean of the rotation matrices.

See also: vpTranslationVector::mean()

Definition at line 898 of file vpRotationMatrix.cpp.

References vpMatrix::pseudoInverse(), and vpMatrix::t().

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

inherited

Not equal to comparison operator of a 2D array.

vpTranslationVector vpRotationMatrix::operator* ( const vpTranslationVector & tv ) const

Multiply a rotation matrix by a translation vector and return the resulting translation vector.

Definition at line 350 of file vpRotationMatrix.cpp.

References vpArray2D< double >::rowPtrs.

Referenced by buildFrom().

vpRotationMatrix vpRotationMatrix::operator* ( const vpRotationMatrix & R ) const

Compute the product between two rotation matrices.

Definition at line 250 of file vpRotationMatrix.cpp.

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

vpMatrix vpRotationMatrix::operator* ( const vpMatrix & M ) const

Operator that allows to multiply a rotation matrix by a 3-by-3 matrix. Allows for example to multiply a rotation matrix by a skew matrix.

vpRotationMatrix R;
vpTranslationVector t;
vpMatrix M = t.skew();
vpMatrix RM = R * M;

Exceptions

vpException::dimensionError : If M is not a 3-by-3 dimension matrix.

Definition at line 278 of file vpRotationMatrix.cpp.

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

vpColVector vpRotationMatrix::operator* ( const vpColVector & v ) const

Operator that allows to multiply a rotation matrix by a 3 dimension column vector.

Parameters

v	: Three dimension column vector.

Returns: The product of the rotation matrix by the column vector

Exceptions

vpException::dimensionError If the column vector v is not a 3 dimension vector.

The code below shows how to use this operator.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRotationMatrix.h>
int main()
{
  vpColVector p1(3), p2(3);
  vpRotationMatrix R;
  p2 = R * p1;
  return 0;
}

Definition at line 326 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

vpRotationMatrix vpRotationMatrix::operator* ( double x ) const

Operator that allows to multiply all the elements of a rotation matrix by a scalar.

Definition at line 370 of file vpRotationMatrix.cpp.

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

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

Operator that allows to multiply all the elements of a rotation matrix by a scalar.

Definition at line 385 of file vpRotationMatrix.cpp.

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

vpRotationMatrix & vpRotationMatrix::operator, ( double val )

Set the second and next element of the rotation matrix.

Parameters

val	: Value of the matrix second or next element.

Returns: An updated matrix.

The following example shows how to initialize a rotation matrix using this operator.

#include <visp3/core/vpRotationMatrix.h>
int main()
{
  vpRotationMatrix R;
  R << 0, 0, -1, 0, -1, 0, -1, 0, 0;
  std::cout << "R:\n" << R << std::endl;
}

It produces the following printings:

See also: operator<<()

Definition at line 237 of file vpRotationMatrix.cpp.

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

vpRotationMatrix & vpRotationMatrix::operator<< ( double val )

Set rotation matrix first element.

Parameters

val	: Value of the matrix first element.

Returns: An updated matrix.

The following example shows how to initialize a rotation matrix using this operator.

#include <visp3/core/vpRotationMatrix.h>
int main()
{
  vpRotationMatrix R;
  R << 0, 0, -1, 0, -1, 0, -1, 0, 0;
  std::cout << "R:\n" << R << std::endl;
}

It produces the following printings:

See also: operator,()

Definition at line 203 of file vpRotationMatrix.cpp.

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

vpRotationMatrix & vpRotationMatrix::operator= ( const vpRotationMatrix & R )

Set the current rotation matrix from a rotation matrix R.

Parameters

R	: Rotation matrix. vpRotationMatrix R1(vpMath::rad(10, vpMath::rad(20), vpMath::rad(30)); vpRotationMatrix R2 = R1;

Definition at line 85 of file vpRotationMatrix.cpp.

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

vpRotationMatrix & vpRotationMatrix::operator= ( const vpMatrix & M )

Converts a 3-by-3 matrix into a rotation matrix.

Parameters

M	: Input matrix.

vpMatrix M(3, 3);
M.eye()
vpRotationMatrix R = M;

Exceptions

vpException::fatalError If the input matrix is not a rotation matrix.

See also: isARotationMatrix()

Definition at line 154 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpException::fatalError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and isARotationMatrix().

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

Set a rotation matrix from a list of 9 double values.

Parameters

list

: List of double. The following code shows how to use this constructor to initialize a rotation matrix:

#include <visp3/core/vpRotationMatrix.h>
int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpRotationMatrix R
  R = { 0, 0, -1, 0, -1, 0, -1, 0, 0 };
  std::cout << "R:\n" << R << std::endl;
#endif
}

It produces the following output:

See also: operator<<()

Definition at line 122 of file vpRotationMatrix.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< double >::dsize, vpException::fatalError, and isARotationMatrix().

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

inherited

Equal to comparison operator of a 2D array.

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

inlineinherited

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

Definition at line 484 of file vpArray2D.h.

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

inlineinherited

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

Definition at line 486 of file vpArray2D.h.

void vpRotationMatrix::printVector ( )

Print to std::cout the rotation matrix as a $\theta {\bf u}$ angle representation vector.

Definition at line 587 of file vpRotationMatrix.cpp.

void vpArray2D< double >::reshape	(	unsigned int	nrows,
		unsigned int	ncols
	)

inlineinherited

Examples:: testMatrixInitialization.cpp.

Definition at line 379 of file vpArray2D.h.

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

void vpRotationMatrix::resize	(	unsigned int	nrows,
		unsigned int	ncols,
		bool	flagNullify = `true`
	)

inline

This function is not applicable to a rotation matrix that is always a 3-by-3 matrix.

Exceptions

vpException::fatalError When this function is called.

Definition at line 194 of file vpRotationMatrix.h.

References vpException::fatalError.

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.

Examples:: testArray2D.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 304 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().

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 737 of file vpArray2D.h.

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

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 830 of file vpArray2D.h.

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

void vpRotationMatrix::setIdentity ( )

Deprecated:: You should rather use eye().

Deprecated:: You should rather use eye().

Initializes the rotation matrix as identity.

See also: eye()

Definition at line 935 of file vpRotationMatrix.cpp.

References eye().

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, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd.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,(), operator,(), vpHomogeneousMatrix::operator,(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpThetaUVector::operator=(), vpMatrix::stack(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), and vpColVector::toStdVector().

vpRotationMatrix vpRotationMatrix::t ( ) const

Return the rotation matrix transpose which is also the inverse of the rotation matrix.

See also: inverse()

Definition at line 539 of file vpRotationMatrix.cpp.

Referenced by vpHomography::computeDisplacement(), vpVelocityTwistMatrix::extract(), inverse(), vpHomogeneousMatrix::inverse(), vpVelocityTwistMatrix::inverse(), isARotationMatrix(), and vpSimulatorAfma6::setPosition().

Friends And Related Function Documentation

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

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 137 of file vpArray2D.h.

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::AAt(), vpMatrix::AtA(), vpQuaternionVector::buildFrom(), vpHomogeneousMatrix::buildFrom(), vpThetaUVector::buildFrom(), vpRzyzVector::buildFrom(), vpRxyzVector::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,(), operator,(), vpHomogeneousMatrix::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<<(), operator<<(), vpHomogeneousMatrix::operator<<(), vpRowVector::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), operator=(), vpRzyzVector::operator=(), vpRxyzVector::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::svdLapack(), vpMatrix::svdOpenCV(), vpRotationVector::t(), vpTranslationVector::t(), vpPoseVector::t(), vpRowVector::t(), vpColVector::t(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), vpColVector::toStdVector(), vpMatrix::transpose(), vpColVector::vpColVector(), vpHomogeneousMatrix::vpHomogeneousMatrix(), vpMatrix::vpMatrix(), vpRowVector::vpRowVector(), vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), vpQuaternionVector::z(), vpSubColVector::~vpSubColVector(), vpSubMatrix::~vpSubMatrix(), and vpSubRowVector::~vpSubRowVector().

unsigned int vpArray2D< double >::dsize

protectedinherited

unsigned int vpRotationMatrix::m_index

protected

Definition at line 229 of file vpRotationMatrix.h.

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

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 135 of file vpArray2D.h.

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 139 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation