#include <vpSubColVector.h>

Inheritance diagram for vpSubColVector:

Public Member Functions
	vpSubColVector ()

	vpSubColVector (vpColVector &v, const unsigned int &offset, const unsigned int &nrows)

virtual	~vpSubColVector ()

void	checkParentStatus () const

void	init (vpColVector &v, const unsigned int &offset, const unsigned int &nrows)

vpSubColVector &	operator= (const vpSubColVector &B)

vpSubColVector &	operator= (const vpPoseVector &p)

vpSubColVector &	operator= (const vpRotationVector &rv)

vpSubColVector &	operator= (const vpTranslationVector &tv)

vpSubColVector &	operator= (const vpColVector &B)

vpSubColVector &	operator= (const vpMatrix &B)

vpSubColVector &	operator= (const double &x)

void	clear ()

std::ostream &	cppPrint (std::ostream &os, const std::string &matrixName="A", bool octet=false) const

std::ostream &	csvPrint (std::ostream &os) const

void	deg2rad ()

vp_deprecated double	euclideanNorm () const

vpColVector	extract (unsigned int r, unsigned int colsize) const

double	frobeniusNorm () const

vpColVector	hadamard (const vpColVector &v) const

double	infinityNorm () const

void	init (const vpColVector &v, unsigned int r, unsigned int nrows)

void	insert (unsigned int i, const vpColVector &v)

void	insert (const vpColVector &v, unsigned int i)

std::ostream &	maplePrint (std::ostream &os) const

std::ostream &	matlabPrint (std::ostream &os) const

vpColVector &	normalize ()

vpColVector &	normalize (vpColVector &x) const

double &	operator[] (unsigned int n)

const double &	operator[] (unsigned int n) const

bool	operator== (const vpColVector &v) const

bool	operator!= (const vpColVector &v) const

double	operator* (const vpColVector &x) const

vpMatrix	operator* (const vpRowVector &v) const

vpColVector	operator* (double x) const

vpColVector &	operator*= (double x)

vpColVector	operator/ (double x) const

vpColVector &	operator/= (double x)

vpColVector	operator+ (const vpColVector &v) const

vpTranslationVector	operator+ (const vpTranslationVector &t) const

vpColVector &	operator+= (vpColVector v)

vpColVector	operator- (const vpColVector &v) const

vpColVector	operator- () const

vpColVector &	operator-= (vpColVector v)

vpColVector &	operator<< (const vpColVector &v)

vpColVector &	operator<< (double *)

vpColVector &	operator<< (double val)

vpColVector &	operator, (double val)

int	print (std::ostream &s, unsigned int length, char const *intro=0) const

void	rad2deg ()

void	reshape (vpMatrix &M, const unsigned int &nrows, const unsigned int &ncols)

vpMatrix	reshape (unsigned int nrows, unsigned int ncols)

void	resize (unsigned int i, bool flagNullify=true)

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

void	stack (double d)

void	stack (const vpColVector &v)

double	sum () const

double	sumSquare () const

vpRowVector	t () const

std::vector< double >	toStdVector ()

vpRowVector	transpose () const

void	transpose (vpRowVector &v) const

Inherited functionalities from vpArray2D
vpArray2D< double >	hadamard (const vpArray2D< double > &m) const

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

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

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

unsigned int	getCols () const

double	getMaxValue () const

double	getMinValue () const

unsigned int	getRows () const

unsigned int	size () const

Static Public Member Functions
static vpColVector	stack (const vpColVector &A, const vpColVector &B)

static void	stack (const vpColVector &A, const vpColVector &B, vpColVector &C)

static vpColVector	cross (const vpColVector &a, const vpColVector &b)

static vpColVector	crossProd (const vpColVector &a, const vpColVector &b)

static double	dotProd (const vpColVector &a, const vpColVector &b)

static vpColVector	invSort (const vpColVector &v)

static double	median (const vpColVector &v)

static double	mean (const vpColVector &v)

static vpMatrix	skew (const vpColVector &v)

static vpColVector	sort (const vpColVector &v)

static double	stdev (const vpColVector &v, bool useBesselCorrection=false)

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	pRowNum

vpColVector *	parent

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 vpColVector &v)

enum	vpGEMMmethod

Deprecated functions
vp_deprecated void	init ()

vp_deprecated void	insert (const vpColVector &v, unsigned int r, unsigned int c=0)

vp_deprecated vpColVector	rows (unsigned int first_row, unsigned int last_row) const

vp_deprecated void	setIdentity (const double &val=1.0)

vp_deprecated void	stackMatrices (const vpColVector &r)

static vp_deprecated vpColVector	stackMatrices (const vpColVector &A, const vpColVector &B)

static vp_deprecated void	stackMatrices (const vpColVector &A, const vpColVector &B, vpColVector &C)

Detailed Description

This class provides a mask on a vpColVector. It has internally a pointer to the parent vpColVector. All properties of vpColVector are available with a vpSubColVector.

Author: Jean Laneurit (IRISA - INRIA Rennes)

See also: vpMatrix vpColvector vpRowVector

Definition at line 62 of file vpSubColVector.h.

Constructor & Destructor Documentation

vpSubColVector::vpSubColVector ( )

Default constructor that creates an empty vector.

Definition at line 45 of file vpSubColVector.cpp.

vpSubColVector::vpSubColVector	(	vpColVector &	v,
		const unsigned int &	offset,
		const unsigned int &	nrows
	)

Construct a sub-column vector from a parent column vector.

Parameters

v	: parent column vector.
offset	: offset where the sub-column vector starts in the parent column vector.
nrows	: size of the sub-column vector.

Definition at line 53 of file vpSubColVector.cpp.

References vpColVector::init().

vpSubColVector::~vpSubColVector ( )

virtual

Destructor that set the pointer to the parrent column vector to NULL.

Definition at line 98 of file vpSubColVector.cpp.

References vpArray2D< double >::data.

Member Function Documentation

void vpSubColVector::checkParentStatus ( ) const

This method can be used to detect if the parent column vector always exits or its size have not changed. If this not the case an exception is thrown.

Definition at line 105 of file vpSubColVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpException::fatalError, vpArray2D< Type >::getRows(), parent, and pRowNum.

void vpColVector::clear ( )

inlineinherited

Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.

Examples:: testColVector.cpp.

Definition at line 175 of file vpColVector.h.

References vpArray2D< double >::colNum, vpMatrix::cppPrint(), vpMatrix::csvPrint(), vpArray2D< double >::data, vpArray2D< double >::dsize, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

Referenced by vpMbTracker::createCylinderBBox(), and vpQuadProg::solveQPi().

std::ostream & vpColVector::cppPrint	(	std::ostream &	os,
		const std::string &	matrixName = `"A"`,
		bool	octet = `false`
	)		const

inherited

Print to be used as part of a C++ code later.

Parameters

os	: the stream to be printed in.
matrixName	: name of the column vector, "A" by default.
octet	: if false, print using double, if true, print byte per byte each bytes of the double array.

The following code shows how to use this function:

#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector v(3);
  for (unsigned int i=0; i<v.size(); i++)
    v[i] = i;
  v.cppPrint(std::cout, "v");
}

It produces the following output that could be copy/paste in a C++ code:

vpColVector v (3);
v[0] = 0;
v[1] = 1;
v[2] = 2;

Definition at line 1552 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

static vpColVector vpColVector::cross	(	const vpColVector &	a,
		const vpColVector &	b
	)

inlinestaticinherited

Compute and return the cross product of two 3-dimension vectors: $a \times b$ .

Parameters

a	: 3-dimension column vector.
b	: 3-dimension column vector.

Returns: The cross product $a \times b$ .

Exceptions

vpException::dimensionError If the vectors dimension is not equal to 3.

Definition at line 351 of file vpColVector.h.

References vpMatrix::stack().

Referenced by vpMbtDistanceLine::buildFrom(), vpPlane::init(), and vpMbtDistanceLine::~vpMbtDistanceLine().

vpColVector vpColVector::crossProd	(	const vpColVector &	a,
		const vpColVector &	b
	)

staticinherited

Compute and return the cross product of two vectors $a \times b$ .

Parameters

a	: 3-dimension column vector.
b	: 3-dimension column vector.

Returns: The cross product $a \times b$ .

Exceptions

vpException::dimensionError If the vectors dimension is not equal to 3.

Definition at line 1189 of file vpColVector.cpp.

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

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpPose::poseLagrangePlan(), and vpImageSimulator::setCameraPosition().

std::ostream & vpColVector::csvPrint ( std::ostream & os ) const

inherited

Print/save a column vector in csv format.

The following code

#include <visp3/core/vpColVector.h>
int main()
{
  std::ofstream ofs("log.csv", std::ofstream::out);
  vpColVector v(3);
  for (unsigned int i=0; i<v.size(); i++)
    v[i] = i;
  v.csvPrint(ofs);
  ofs.close();
}

produces log.csv file that contains:

0
1
2

Definition at line 1597 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

void vpColVector::deg2rad ( )

inlineinherited

Convert a column vector containing angles in degrees into radians.

See also: rad2deg()

Definition at line 196 of file vpColVector.h.

References vpMatrix::euclideanNorm().

Referenced by vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpRobotViper650::init(), vpRobotViper850::init(), vpSimulatorViper850::readPosFile(), vpRobotViper650::readPosFile(), vpRobotViper850::readPosFile(), vpRobotBiclops::readPositionFile(), vpRobotPtu46::readPositionFile(), vpRobotViper650::setPosition(), and vpRobotViper850::setPosition().

double vpColVector::dotProd	(	const vpColVector &	a,
		const vpColVector &	b
	)

staticinherited

Compute end return the dot product of two column vectors:

$a \cdot b = \sum_{i=0}^n a_i * b_i$

where n is the dimension of both vectors.

Exceptions

vpException::dimensionError If the vector dimension differ.

Definition at line 816 of file vpColVector.cpp.

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

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtPolygon::isVisible(), vpPose::poseDementhonNonPlan(), and vpImageSimulator::setCameraPosition().

double vpColVector::euclideanNorm ( ) const

inherited

Deprecated:: This function is deprecated. You should rather use frobeniusNorm().

Compute and return the Euclidean norm also called Fronebius norm $||v|| = \sqrt{ \sum{v_{i}^2}}$ .

Returns: The Euclidean norm if the vector is initialized, 0 otherwise.

See also: frobeniusNorm(), infinityNorm()

Definition at line 1461 of file vpColVector.cpp.

References vpColVector::frobeniusNorm().

vpColVector vpColVector::extract	(	unsigned int	r,
		unsigned int	colsize
	)		const

inlineinherited

Extract a sub-column vector from a column vector.

Parameters

r	: Index of the row corresponding to the first element of the vector to extract.
colsize	: Size of the vector to extract.

Exceptions

vpException::fatalError If the vector to extract is not contained in the original one.

vpColVector v1;
for (unsigned int i=0; i<4; i++)
  v1.stack(i);
// v1 is equal to [0 1 2 3]^T
vpColVector v2 = v1.extract(1, 3);
// v2 is equal to [1 2 3]^T

Examples:: testColVector.cpp, testForceTorqueAti.cpp, testForceTorqueAtiNetFTSensor.cpp, and testForceTorqueIitSensor.cpp.

Definition at line 220 of file vpColVector.h.

References vpException::fatalError, vpMatrix::frobeniusNorm(), vpArray2D< Type >::hadamard(), vpMatrix::infinityNorm(), vpMatrix::init(), vpMatrix::insert(), vpMatrix::maplePrint(), vpMatrix::matlabPrint(), and vpArray2D< double >::rowNum.

Referenced by vpLinProg::colReduction(), vpQuadProg::fromCanonicalCost(), vpLinProg::simplex(), vpLinProg::solveLP(), and vpQuadProg::solveQPi().

double vpColVector::frobeniusNorm ( ) const

inherited

Compute and return the Fronebius norm $||v|| = \sqrt{ \sum{v_{i}^2}}$ .

Returns: The Fronebius norm if the vector is initialized, 0 otherwise.

See also: infinityNorm()

Examples:: testSvd.cpp.

Definition at line 1474 of file vpColVector.cpp.

References vpColVector::sumSquare().

Referenced by vpServo::computeProjectionOperators(), vpMbTracker::createCylinderBBox(), vpColVector::euclideanNorm(), vpImageSimulator::setCameraPosition(), and vpSimulatorAfma6::setPosition().

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().

vpColVector vpColVector::hadamard ( const vpColVector & v ) const

inherited

Compute the Hadamard product (element wise vector multiplication).

Parameters

v	: Second vector;

Returns: v1.hadamard(v2) The kronecker product : $v1 \circ v2 = (v1 \circ v2)_{i} = (v1)_{i} (v2)_{i}$

Examples:: testArray2D.cpp.

Definition at line 1487 of file vpColVector.cpp.

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

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.

double vpColVector::infinityNorm ( ) const

inherited

Compute and return the infinity norm ${||v||}_{\infty} = max\left({\mid v_{i} \mid}\right)$ with $i \in \{0, ..., m-1\}$ where m is the vector size and $v_i$ an element of the vector.

Returns: The infinity norm if the matrix is initialized, 0 otherwise.

See also: frobeniusNorm()

Definition at line 1512 of file vpColVector.cpp.

References vpArray2D< double >::rowNum.

Referenced by vpLinProg::colReduction(), vpAdaptiveGain::operator()(), and vpLinProg::rowReduction().

void vpSubColVector::init	(	vpColVector &	v,
		const unsigned int &	offset,
		const unsigned int &	nrows
	)

Initialize a sub-column vector from a parent column vector.

Parameters

v	: parent column vector.
offset	: offset where the sub-column vector starts in the parent column vector.
nrows	: size of the sub-column vector.

Definition at line 65 of file vpSubColVector.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::data, vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< double >::dsize, vpException::fatalError, vpArray2D< Type >::getRows(), parent, pRowNum, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

void vpColVector::init	(	const vpColVector &	v,
		unsigned int	r,
		unsigned int	nrows
	)

inherited

Initialize the column vector from a part of an input column vector v.

Parameters

v	: Input column vector used for initialization.
r	: row index in v that corresponds to the first element of the column vector to contruct.
nrows	: Number of rows of the constructed column vector.

The sub-vector starting from v[r] element and ending on v[r+nrows-1] element is used to initialize the contructed column vector.

The following code shows how to use this function:

#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector v(4);
  int val = 0;
  for(size_t i=0; i<v.getRows(); i++) {
    v[i] = val++;
  }
  std::cout << "v: " << v.t() << std::endl;
  vpColVector w;
  w.init(v, 0, 2);
  std::cout << "w: " << w.t() << std::endl;
}

It produces the following output:

v: 0 1 2 3

w: 1 2

Examples:: testColVector.cpp.

Definition at line 249 of file vpColVector.cpp.

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

vp_deprecated void vpColVector::init ( )

inlineinherited

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

Definition at line 377 of file vpColVector.h.

Referenced by vpColVector::vpColVector(), and vpSubColVector().

void vpColVector::insert	(	unsigned int	i,
		const vpColVector &	v
	)

inherited

Insert a column vector.

Parameters

i	: Index of the first element to introduce. This index starts from 0.
v	: Column vector to insert.

The following example shows how to use this function:

#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector v(4);
  for (unsigned int i=0; i < v.size(); i++)
    v[i] = i;
  std::cout << "v: " << v.t() << std::endl;
  vpColVector w(2);
  for (unsigned int i=0; i < w.size(); i++)
    w[i] = i+10;
  std::cout << "w: " << w.t() << std::endl;
  v.insert(1, w);
  std::cout << "v: " << v.t() << std::endl;
}

It produces the following output:

v: 0 1 2 3
w: 10 11
v: 0 10 11 3

Examples:: testColVector.cpp, and testVirtuoseAfma6.cpp.

Definition at line 1317 of file vpColVector.cpp.

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

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSWeights(), vpMbEdgeTracker::computeVVSWeights(), vpColVector::insert(), and vpMbGenericTracker::track().

void vpColVector::insert	(	const vpColVector &	v,
		unsigned int	i
	)

inherited

void vpColVector::insert	(	const vpColVector &	v,
		unsigned int	r,
		unsigned int	c = `0`
	)

inherited

Deprecated:: You should rather use insert(unsigned int, const vpColVector &).

Insert column vector v at the given position r in the current column vector.

Warning: Throw vpMatrixException::incorrectMatrixSizeError if the dimensions of the matrices do not allow the operation.

Parameters

v	: The column vector to insert.
r	: The index of the row to begin to insert data.
c	: Not used.

Definition at line 1709 of file vpColVector.cpp.

References vpColVector::insert().

vpColVector vpColVector::invSort ( const vpColVector & v )

staticinherited

Return a column vector with elements of v that are reverse sorted with values going from greatest to lowest.

Example:

#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector v(10);
  v[0] = 5; v[1] = 7; v[2] = 4; v[3] = 2; v[4] = 8;
  v[5] = 6; v[6] = 1; v[7] = 9; v[8] = 0; v[9] = 3;
  std::cout << "v: " << v.t() << std::endl;
  vpColVector s = vpColVector::invSort(v);
  std::cout << "s: " << s.t() << std::endl;
}

Output:

v: 5 7 4 2 8 6 1 9 0 3

s: 9 8 7 6 5 4 3 2 1 0

See also: sort()

Definition at line 904 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::fatalError, and vpArray2D< Type >::getRows().

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().

std::ostream & vpColVector::maplePrint ( std::ostream & os ) const

inherited

Print using Maple syntax, to copy/paste in Maple later.

The following code

#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector v(3);
  for (unsigned int i=0; i<v.size(); i++)
    v[i] = i;
  std::cout << "v = "; v.maplePrint(std::cout);
}

produces this output:

v = ([
[0, ],
[1, ],
[2, ],
])

that could be copy/paste in Maple.

Definition at line 1632 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

std::ostream & vpColVector::matlabPrint ( std::ostream & os ) const

inherited

Print using Matlab syntax, to copy/paste in Matlab later.

The following code

#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector v(3);
  for (unsigned int i=0; i<v.size(); i++)
    v[i] = i;
  std::cout << "v = "; v.matlabPrint(std::cout);
}

produces this output:

v = [ 0, ;
1, ;
2, ]

that could be copy/paste in Matlab:

>> v = [ 0, ;
1, ;
2, ]
v =
    0
    1
    2
>>

Definition at line 1680 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

double vpColVector::mean ( const vpColVector & v )

staticinherited

Compute the mean value of all the elements of the vector.

Examples:: testColVector.cpp.

Definition at line 1100 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::size(), and vpColVector::sum().

double vpColVector::median ( const vpColVector & v )

staticinherited

Compute the median value of all the elements of the vector.

Examples:: testColVector.cpp.

Definition at line 1120 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::dimensionError, vpMath::getMedian(), vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().

vpColVector & vpColVector::normalize ( )

inherited

Normalise the vector:

${\bf x}_i = \frac{{\bf x}_i}{\sqrt{\sum_{i=1}^{n}x^2_i}}$

Examples:: testColVector.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 863 of file vpColVector.cpp.

References vpColVector::sumSquare().

Referenced by vpCameraParameters::computeFov(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbTracker::createCylinderBBox(), vpMbtDistanceKltPoints::init(), vpMbtPolygon::isVisible(), and vpMbKltTracker::setPose().

vpColVector & vpColVector::normalize ( vpColVector & x ) const

inherited

Normalise the vector:

${\bf x}_i = \frac{{\bf x}_i}{\sqrt{\sum_{i=1}^{n}x^2_i}}$

Definition at line 849 of file vpColVector.cpp.

References vpColVector::sumSquare().

bool vpColVector::operator!= ( const vpColVector & v ) const

inherited

Definition at line 772 of file vpColVector.cpp.

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

inherited

Not equal to comparison operator of a 2D array.

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

inherited

Operator that performs the dot product between two column vectors.

Exceptions

vpException::dimensionError If the vector dimension differ.

See also: dotProd()

Definition at line 143 of file vpColVector.cpp.

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

vpMatrix vpColVector::operator* ( const vpRowVector & v ) const

inherited

Multiply a column vector by a row vector.

Parameters

v	: Row vector.

Returns: The resulting matrix.

Definition at line 167 of file vpColVector.cpp.

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

vpColVector vpColVector::operator* ( double x ) const

inherited

Operator that allows to multiply each element of a column vector by a scalar.

Parameters

x	: The scalar.

Returns: The column vector multiplied by the scalar. The current column vector (*this) is unchanged.

vpColVector v(3);
v[0] = 1;
v[1] = 2;
v[2] = 3;
vpColVector w = v * 3;
// v is unchanged
// w is now equal to : [3, 6, 9]

Definition at line 387 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::rowNum.

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

inherited

Operator that allows to multiply each element of a column vector by a scalar.

Parameters

x	: The scalar.

Returns: The column vector multiplied by the scalar.

vpColVector v(3);
v[0] = 1;
v[1] = 2;
v[2] = 3;
v *= 3;
// v is now equal to : [3, 6, 9]

Definition at line 417 of file vpColVector.cpp.

References vpArray2D< double >::rowNum.

vpColVector vpColVector::operator+ ( const vpColVector & v ) const

inherited

Operator that allows to add two column vectors.

Definition at line 64 of file vpColVector.cpp.

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

vpTranslationVector vpColVector::operator+ ( const vpTranslationVector & t ) const

inherited

Operator that allows to add a column vector to a translation vector.

Parameters

t	: 3-dimension translation vector to add.

Returns: The sum of the current columnn vector (*this) and the translation vector to add.
vpTranslationVector t1(1,2,3);
vpColVector v(3);
v[0] = 4;
v[1] = 5;
v[2] = 6;
vpTranslationVector t2;
t2 = v + t1;
// t1 and v leave unchanged
// t2 is now equal to : 5, 7, 9

Definition at line 97 of file vpColVector.cpp.

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

vpColVector & vpColVector::operator+= ( vpColVector v )

inherited

Operator that allows to add two column vectors.

Definition at line 112 of file vpColVector.cpp.

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

vpColVector & vpColVector::operator, ( double val )

inherited

This operator could be used to set column vector elements:

#include <visp3/code/vpColVector.h
int main()
{
  vpColVector v;
  v << -1, -2.1, -3;
  std::cout << "v:" << v << std::endl;
}

It produces the following printings:

v: -1 -2.1 -3

See also: operator<<()

Definition at line 672 of file vpColVector.cpp.

References vpArray2D< double >::data, vpColVector::resize(), and vpArray2D< double >::rowNum.

vpColVector vpColVector::operator- ( const vpColVector & v ) const

inherited

operator substraction of two vectors V = A-v

Definition at line 179 of file vpColVector.cpp.

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

vpColVector vpColVector::operator- ( void ) const

inherited

Operator that allows to negate all the column vector elements.

vpColVector r(3, 1);
// r contains [1 1 1]^T
vpColVector v = -r;
// v contains [-1 -1 -1]^T

Definition at line 353 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpArray2D< double >::data, vpColVector::resize(), and vpArray2D< double >::rowNum.

vpColVector & vpColVector::operator-= ( vpColVector v )

inherited

Operator that allows to substract two column vectors.

Definition at line 124 of file vpColVector.cpp.

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

vpColVector vpColVector::operator/ ( double x ) const

inherited

Operator that allows to divide each element of a column vector by a scalar.

Parameters

x	: The scalar.

Returns: The column vector divided by the scalar. The current column vector (*this) is unchanged.

vpColVector v(3);
v[0] = 8;
v[1] = 4;
v[2] = 2;
vpColVector w = v / 2;
// v is unchanged
// w is now equal to : [4, 2, 1]

Definition at line 467 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::rowNum.

vpColVector & vpColVector::operator/= ( double x )

inherited

Operator that allows to divide each element of a column vector by a scalar.

Parameters

x	: The scalar.

Returns: The column vector divided by the scalar.

vpColVector v(3);
v[0] = 8;
v[1] = 4;
v[2] = 2;
v /= 2;
// v is now equal to : [4, 2, 1]

Definition at line 441 of file vpColVector.cpp.

References vpArray2D< double >::rowNum.

vpColVector & vpColVector::operator<< ( const vpColVector & v )

inherited

Copy operator. Allows operation such as A << v

#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector A, B(5);
  for (unsigned int i=0; i<B.size(); i++)
    B[i] = i;
  A << B;
  std::cout << "A: " << A.t() << std::endl;
}

In column vector A we get:

A: 0 1 2 3 4

Definition at line 589 of file vpColVector.cpp.

vpColVector & vpColVector::operator<< ( double * x )

inherited

Assigment operator. Allow operation such as A = *v

The following example shows how to use this operator.

#include <visp3/core/vpColVector.h>
int main()
{
  size_t n = 5;
  vpColVector A(n);
  double *B = new double [n];
  for (unsigned int i = 0; i < n; i++)
    B[i] = i;
  A << B;
  std::cout << "A: " << A.t() << std::endl;
  delete [] B;
}

It produces the following output:

A: 0 1 2 3 4

Definition at line 619 of file vpColVector.cpp.

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

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

inherited

This operator could be used to set column vector elements:

#include <visp3/code/vpColVector.h
int main()
{
  vpColVector v;
  v << -1, -2.1, -3;
  std::cout << "v:" << v << std::endl;
}

It produces the following printings:

v: -1 -2.1 -3

See also: operator,()

Definition at line 647 of file vpColVector.cpp.

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

vpSubColVector & vpSubColVector::operator= ( const vpSubColVector & B )

Allow to initialize a sub-column vector from an other one using operation A = B. Notice that the sub-column vector is not resized to the dimension of B.

Parameters

B	: a sub-column vector.

Definition at line 122 of file vpSubColVector.cpp.

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

vpSubColVector & vpSubColVector::operator= ( const vpPoseVector & p )

Operator that allows to convert a pose vector into a column vector.

Definition at line 221 of file vpSubColVector.cpp.

References vpArray2D< double >::data, vpArray2D< Type >::data, vpArray2D< Type >::getRows(), vpColVector::resize(), and vpArray2D< double >::rowNum.

vpSubColVector & vpSubColVector::operator= ( const vpRotationVector & rv )

Operator that allows to convert a rotation vector into a column vector.

Definition at line 204 of file vpSubColVector.cpp.

References vpArray2D< double >::data, vpArray2D< Type >::data, vpArray2D< Type >::getRows(), vpColVector::resize(), and vpArray2D< double >::rowNum.

vpSubColVector & vpSubColVector::operator= ( const vpTranslationVector & tv )

Operator that allows to convert a translation vector into a column vector.

Definition at line 187 of file vpSubColVector.cpp.

References vpArray2D< double >::data, vpArray2D< Type >::data, vpArray2D< Type >::getRows(), vpColVector::resize(), and vpArray2D< double >::rowNum.

vpSubColVector & vpSubColVector::operator= ( const vpColVector & B )

Allow to initialize a sub-column vector from a column vector using operation A = B. Notice that the sub-column vector is not resized to the dimension of B.

Parameters

B	: a column vector.

Definition at line 141 of file vpSubColVector.cpp.

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

vpSubColVector & vpSubColVector::operator= ( const vpMatrix & B )

Allow to initialize a sub-column vector from a m-by-1 matrix using operation A = B. Notice that the sub-column vector is not resized to the dimension of B.

Parameters

B	: a matrix of size m-by-1.

Definition at line 161 of file vpSubColVector.cpp.

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

vpSubColVector & vpSubColVector::operator= ( const double & x )

Set all the elements of the sub-column vector to x.

Parameters

x	: a scalar value.

Definition at line 177 of file vpSubColVector.cpp.

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

bool vpColVector::operator== ( const vpColVector & v ) const

inherited

Comparison operator.

Definition at line 759 of file vpColVector.cpp.

References vpArray2D< double >::colNum, vpArray2D< Type >::colNum, vpArray2D< double >::data, vpArray2D< Type >::data, vpMath::equal(), vpArray2D< double >::rowNum, and vpArray2D< Type >::rowNum.

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

inherited

Equal to comparison operator of a 2D array.

double& vpColVector::operator[] ( unsigned int n )

inlineinherited

Operator that allows to set a value of an element $v_i$ : v[i] = x.

Definition at line 247 of file vpColVector.h.

References vpArray2D< double >::data.

const double& vpColVector::operator[] ( unsigned int n ) const

inlineinherited

Operator that allows to get the value of an element $v_i$ : x = v[i].

Definition at line 249 of file vpColVector.h.

References vpArray2D< double >::data, vpArray2D< Type >::operator!=(), vpMatrix::operator*(), vpMatrix::operator*=(), vpMatrix::operator+(), vpMatrix::operator+=(), vpMatrix::operator,(), vpMatrix::operator-(), vpMatrix::operator-=(), vpMatrix::operator/(), vpMatrix::operator/=(), vpArray2D< Type >::operator<<, vpArray2D< Type >::operator=(), vpArray2D< Type >::operator==(), and vpMatrix::print().

int vpColVector::print	(	std::ostream &	s,
		unsigned int	length,
		char const *	intro = `0`
	)		const

inherited

Pretty print a column vector. The data are tabulated. The common widths before and after the decimal point are set with respect to the parameter maxlen.

Parameters

s	Stream used for the printing.
length	The suggested width of each vector element. The actual width grows in order to accomodate the whole integral part, and shrinks if the whole extent is not needed for all the numbers.
intro	The introduction which is printed before the vector. Can be set to zero (or omitted), in which case the introduction is not printed.

Returns: Returns the common total width for all vector elements.

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

Examples:: servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, testColVector.cpp, and testTwistMatrix.cpp.

Definition at line 1346 of file vpColVector.cpp.

References vpArray2D< double >::getRows(), and vpMath::maximum().

void vpColVector::rad2deg ( )

inlineinherited

Convert a column vector containing angles in radians into degrees.

See also: deg2rad()

Definition at line 294 of file vpColVector.h.

References vpArray2D< Type >::reshape().

Referenced by vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

void vpColVector::reshape	(	vpMatrix &	M,
		const unsigned int &	nrows,
		const unsigned int &	ncols
	)

inherited

Reshape the column vector in a matrix.

Parameters

M	: the reshaped matrix.
nrows	: number of rows of the matrix.
ncols	: number of columns of the matrix.

Exceptions

vpException::dimensionError If the matrix and the column vector have not the same size.

The following example shows how to use this method.

#include <visp3/core/vpColVector.h>
int main()
{
  int var=0;
  vpMatrix mat(3, 4);
  for (int i = 0; i < 3; i++)
      for (int j = 0; j < 4; j++)
          mat[i][j] = ++var;
  std::cout << "mat: \n" << mat << std::endl;
  vpColVector col = mat.stackColumns();
  std::cout << "column vector: \n" << col << std::endl;
  vpMatrix remat = col.reshape(3, 4);
  std::cout << "remat: \n" << remat << std::endl;
}

If you run the previous example, you get:

mat:
1  2  3  4
5  6  7  8
9  10  11  12
column vector:
1
5
9
2
6
10
3
7
11
4
8
12
remat:
1  2  3  4
5  6  7  8
9  10  11  12

Examples:: testMatrixInitialization.cpp.

Definition at line 1271 of file vpColVector.cpp.

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

Referenced by vpColVector::reshape().

vpMatrix vpColVector::reshape	(	unsigned int	nrows,
		unsigned int	ncols
	)

inherited

Reshape the column vector in a matrix.

Parameters

nrows	: number of rows of the matrix
ncols	: number of columns of the matrix

Returns: The reshaped matrix.

See also: reshape(vpMatrix &, const unsigned int &, const unsigned int &)

Definition at line 1209 of file vpColVector.cpp.

References vpColVector::reshape().

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().

void vpColVector::resize	(	unsigned int	i,
		bool	flagNullify = `true`
	)

inlineinherited

Modify the size of the column vector.

Parameters

i	: Size of the vector. This value corresponds to the vector number of rows.
flagNullify	: If true, set the data to zero.

Exceptions

vpException::fatalError When ncols is not equal to 1.

Examples:: moveAfma4.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoViper850Point2DCamVelocityKalman.cpp, testColVector.cpp, testMatrixInitialization.cpp, testRealSense2_T265_images_odometry_async.cpp, and testThread2.cpp.

Definition at line 310 of file vpColVector.h.

References vpArray2D< Type >::resize().

void vpColVector::resize	(	unsigned int	nrows,
		unsigned int	ncols,
		bool	flagNullify
	)

inlineinherited

Resize the column vector to a nrows-dimension vector. This function can only be used with ncols = 1.

Parameters

nrows	: Vector number of rows. This value corresponds to the size of the vector.
ncols	: Vector number of columns. This value should be set to 1.
flagNullify	: If true, set the data to zero.

Exceptions

vpException::fatalError When ncols is not equal to 1.

Definition at line 321 of file vpColVector.h.

References vpException::fatalError, vpArray2D< Type >::resize(), vpMatrix::stack(), vpMatrix::sum(), vpMatrix::sumSquare(), vpMatrix::t(), and vpMatrix::transpose().

vp_deprecated vpColVector vpColVector::rows	(	unsigned int	first_row,
		unsigned int	last_row
	)		const

inlineinherited

Deprecated:: You should rather use extract().

Definition at line 381 of file vpColVector.h.

References vpMatrix::setIdentity().

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().

vp_deprecated void vpColVector::setIdentity ( const double & val = 1.0 )

inherited

Deprecated:: You should rather use 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,(), vpRotationMatrix::operator,(), vpHomogeneousMatrix::operator,(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRzyzVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpThetaUVector::operator=(), vpMatrix::stack(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), and vpColVector::toStdVector().

vpMatrix vpColVector::skew ( const vpColVector & v )

staticinherited

Compute the skew symmetric matrix $[{\bf v}]_\times$ of vector v.

$\mbox{if} \quad {\bf V} = \left( \begin{array}{c} x \\ y \\ z \end{array}\right), \quad \mbox{then} \qquad [{\bf v}]_\times = \left( \begin{array}{ccc} 0 & -z & y \\ z & 0 & -x \\ -y & x & 0 \end{array}\right)$

Parameters

v	: Input vector used to compute the skew symmetric matrix.

Examples:: servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 1157 of file vpColVector.cpp.

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

Referenced by vpMatrix::computeCovarianceMatrixVVS(), vpColVector::crossProd(), and vpFeatureThetaU::interaction().

vpColVector vpColVector::sort ( const vpColVector & v )

staticinherited

Return a column vector with elements of v that are sorted with values going from lowest to geatest.

Example:

#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector v(10);
  v[0] = 5; v[1] = 7; v[2] = 4; v[3] = 2; v[4] = 8;
  v[5] = 6; v[6] = 1; v[7] = 9; v[8] = 0; v[9] = 3;
  std::cout << "v: " << v.t() << std::endl;
  vpColVector s = vpColVector::sort(v);
  std::cout << "s: " << s.t() << std::endl;
}

Output:

v: 5 7 4 2 8 6 1 9 0 3

s: 0 1 2 3 4 5 6 7 8 9

See also: invSort()

Definition at line 956 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpException::fatalError, and vpArray2D< Type >::getRows().

void vpColVector::stack ( double d )

inherited

Stack column vector with a new element at the end of the vector.

Parameters

d	: Element to stack to the existing vector.

vpColVector v(3, 1);
// v is equal to [1 1 1]^T
v.stack(-2);
// v is equal to [1 1 1 -2]^T

See also: stack(const vpColVector &, const vpColVector &); stack(const vpColVector &, const vpColVector &, vpColVector &)

Examples:: servoPioneerPoint2DDepthWithoutVpServo.cpp, and testColVector.cpp.

Definition at line 997 of file vpColVector.cpp.

References vpColVector::resize(), and vpArray2D< double >::rowNum.

Referenced by vpPoseFeatures::addFeatureSegment(), vpFeatureSegment::error(), vpFeatureEllipse::error(), vpFeatureVanishingPoint::error(), vpFeatureMomentAlpha::error(), vpGenericFeature::error(), vpFeaturePoint::error(), vpFeatureLine::error(), vpFeaturePoint3D::error(), vpFeatureThetaU::error(), vpFeaturePointPolar::error(), vpFeatureTranslation::error(), vpBasicFeature::get_s(), vpColVector::stack(), and vpMatrix::stackMatrices().

void vpColVector::stack ( const vpColVector & v )

inherited

Stack column vectors.

Parameters

v	: Vector to stack to the existing one.

vpColVector v1(3, 1);
// v1 is equal to [1 1 1]^T
vpColVector v2(2, 3);
// v2 is equal to [3 3]^T
v1.stack(v2);
// v1 is equal to [1 1 1 3 3]^T

See also: stack(const vpColVector &, const double &); stack(const vpColVector &, const vpColVector &); stack(const vpColVector &, const vpColVector &, vpColVector &)

Definition at line 1022 of file vpColVector.cpp.

References vpColVector::stack().

vpColVector vpColVector::stack	(	const vpColVector &	A,
		const vpColVector &	B
	)

staticinherited

Stack column vectors.

Parameters

A	: Initial vector.
B	: Vector to stack at the end of A.

Returns: Stacked vector .

vpColVector A(3);
vpColVector B(5);
vpColVector C;
C = vpColVector::stack(A, B); // C = [A B]T
// C is now an 8 dimension column vector

See also: stack(const vpColVector &); stack(const vpColVector &, const vpColVector &, vpColVector &)

Definition at line 1042 of file vpColVector.cpp.

References vpColVector::stack().

void vpColVector::stack	(	const vpColVector &	A,
		const vpColVector &	B,
		vpColVector &	C
	)

staticinherited

Stack column vectors.

Parameters

A	: Initial vector.
B	: Vector to stack at the end of A.
C	: Resulting stacked vector .

vpColVector A(3);
vpColVector B(5);
vpColVector C;
vpColVector::stack(A, B, C); // C = [A B]T
// C is now an 8 dimension column vector

See also: stack(const vpColVector &); stack(const vpColVector &, const vpColVector &)

Definition at line 1067 of file vpColVector.cpp.

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

vp_deprecated void vpColVector::stackMatrices ( const vpColVector & r )

inlineinherited

Deprecated:: You should rather use stack(const vpColVector &)

Definition at line 392 of file vpColVector.h.

References vpMatrix::stack().

static vp_deprecated vpColVector vpColVector::stackMatrices	(	const vpColVector &	A,
		const vpColVector &	B
	)

inlinestaticinherited

Deprecated:: You should rather use stack(const vpColVector &A, const vpColVector &B)

Definition at line 397 of file vpColVector.h.

References vpMatrix::stack().

static vp_deprecated void vpColVector::stackMatrices	(	const vpColVector &	A,
		const vpColVector &	B,
		vpColVector &	C
	)

inlinestaticinherited

Deprecated:: You should rather use stack(const vpColVector &A, const vpColVector &B, vpColVector &C)

Definition at line 402 of file vpColVector.h.

References vpMatrix::insert(), vpMatrix::operator*(), and vpMatrix::stack().

double vpColVector::stdev	(	const vpColVector &	v,
		bool	useBesselCorrection = `false`
	)

staticinherited

Compute the standard deviation value of all the elements of the vector.

Examples:: testColVector.cpp.

Definition at line 1134 of file vpColVector.cpp.

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

double vpColVector::sum ( ) const

inherited

Return the sum of all the elements $v_{i}$ of the column vector v(m).

Returns: The value
$\sum{i=0}^{m} v_i$
.

Examples:: testThread2.cpp.

Definition at line 1435 of file vpColVector.cpp.

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

Referenced by vpColVector::mean().

double vpColVector::sumSquare ( ) const

inherited

Return the sum square of all the elements $v_{i}$ of the column vector v(m).

Returns: The value
$\sum{i=0}^{m} v_i^{2}$
.

Examples:: photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoMomentImage.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, testAprilTag.cpp, testGenericTracker.cpp, testGenericTrackerDepth.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 1446 of file vpColVector.cpp.

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

Referenced by vpMatrix::computeCovarianceMatrixVVS(), vpPoseFeatures::computePose(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpPose::coplanar(), vpFeatureDepth::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpMbTracker::extractCylinders(), vpColVector::frobeniusNorm(), vpFeatureThetaU::interaction(), vpMatrix::kernel(), vpColVector::normalize(), vpPose::poseDementhonNonPlan(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpServoData::save(), vpSimulatorAfma6::setPosition(), and vpSimulatorViper850::setPosition().

vpRowVector vpColVector::t ( ) const

inherited

Transpose the column vector. The resulting vector becomes a row vector.

Examples:: moveAfma4.cpp, movePtu46.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoBebop2.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, testColVector.cpp, testComedi.cpp, testDisplacement.cpp, testEigenConversion.cpp, testForceTorqueAti.cpp, testForceTorqueAtiNetFTSensor.cpp, testForceTorqueIitSensor.cpp, testFrankaCartForceTorque-2.cpp, testFrankaCartForceTorque.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaGetPose.cpp, testFrankaJointPosition.cpp, testFrankaJointTorque.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, testKalmanAcceleration.cpp, testKalmanVelocity.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testVirtuose.cpp, testVirtuoseAfma6.cpp, testVirtuosePeriodicFunction.cpp, tutorial-homography-from-points.cpp, and tutorial-pioneer-robot.cpp.

Definition at line 779 of file vpColVector.cpp.

References vpArray2D< Type >::data, vpArray2D< double >::data, and vpArray2D< double >::rowNum.

Referenced by vpHomography::computeDisplacement(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), vpServo::computeProjectionOperators(), vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpHomography::load(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpForwardProjection::print(), vpServo::print(), vpMeEllipse::printParameters(), vpPose::printPoint(), vpServoData::save(), vpRobotKinova::setPosition(), vpRobotBiclops::setVelocity(), vpLinProg::simplex(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpColVector::transpose().

std::vector< double > vpColVector::toStdVector ( )

inherited

Converts the vpColVector to a std::vector.

Returns: The corresponding std::vector<double>.

Examples:: testColVector.cpp.

Definition at line 693 of file vpColVector.cpp.

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

vpRowVector vpColVector::transpose ( ) const

inherited

Transpose the column vector. The resulting vector becomes a row vector.

See also: t()

Definition at line 790 of file vpColVector.cpp.

References vpColVector::t().

void vpColVector::transpose ( vpRowVector & v ) const

inherited

Transpose the column vector. The resulting vector v becomes a row vector.

See also: t()

Definition at line 796 of file vpColVector.cpp.

References vpColVector::t().

Friends And Related Function Documentation

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

Definition at line 802 of file vpColVector.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(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), 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(), 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<<(), operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRotationMatrix::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(), vpSubMatrix::~vpSubMatrix(), and vpSubRowVector::~vpSubRowVector().

unsigned int vpArray2D< double >::dsize

protectedinherited

vpColVector* vpSubColVector::parent

protected

Parent vpColvector.

Definition at line 73 of file vpSubColVector.h.

Referenced by checkParentStatus(), and init().

unsigned int vpSubColVector::pRowNum

protected

Number of row of parent vpColvector at initialization.

Definition at line 71 of file vpSubColVector.h.

Referenced by checkParentStatus(), init(), 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.

Referenced by vpMatrix::AAt(), vpColVector::clear(), vpMatrix::infinityNorm(), 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/=(), vpColVector::operator<<(), vpMatrix::operator<<(), vpSubMatrix::operator=(), vpRotationMatrix::operator=(), vpForceTwistMatrix::operator=(), vpVelocityTwistMatrix::operator=(), vpHomogeneousMatrix::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().

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Deprecated functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation