#include <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)

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

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::vpRxyzVector ( )

Default constructor that initialize all the 3 angles to zero.

Definition at line 52 of file vpRxyzVector.cpp.

vpRxyzVector::vpRxyzVector ( const vpRxyzVector & rxyz )

Copy constructor.

Definition at line 55 of file vpRxyzVector.cpp.

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

Constructor from 3 angles (in radian).

Parameters

phi	: $\varphi$ angle around the axis.
theta	: $\theta$ angle around the axis.
psi	: $\psi$ angle around the axis.

Definition at line 63 of file vpRxyzVector.cpp.

References buildFrom().

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::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::vpRxyzVector ( const vpColVector & rxyz )

explicit

Copy constructor from a 3-dimension vector.

Definition at line 84 of file vpRxyzVector.cpp.

References buildFrom().

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().

virtual vpRxyzVector::~vpRxyzVector ( )

inlinevirtual

Destructor.

Definition at line 199 of file vpRxyzVector.h.

References vpRotationVector::operator=().

Member Function Documentation

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().

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().

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().

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.

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

Construction from 3 angles (in radian).

Parameters

phi	: $\varphi$ angle around the axis.
theta	: $\theta$ angle around the axis.
psi	: $\psi$ angle around the axis.

Definition at line 143 of file vpRxyzVector.cpp.

References vpArray2D< double >::data.

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(), 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(), 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(), 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().

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.

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().

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

inherited

Not equal to comparison operator of a 2D array.

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().

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().

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.

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().

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.

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

default

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().

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

inherited

Equal to comparison operator of a 2D array.

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.

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.

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 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().

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

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.

vpRowVector vpRotationVector::t ( ) const

inherited

Return the transpose of the rotation vector.

Examples:: calibrate-hand-eye.cpp, testEigenConversion.cpp, testMatrixInitialization.cpp, testViper650.cpp, testViper850.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 56 of file vpRotationVector.cpp.

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

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

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

Definition at line 102 of file vpRotationVector.cpp.

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(), 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,(), 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<<(), vpRotationMatrix::operator<<(), vpHomogeneousMatrix::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::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 vpRotationVector::m_index

protectedinherited

Definition at line 161 of file vpRotationVector.h.

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