vpTranslationVector.cpp

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

#include <stdio.h>
#include <string.h>

#include <visp3/core/vpTranslationVector.h>

vpTranslationVector::vpTranslationVector(double tx, double ty, double tz) : vpArray2D<double>(3, 1), m_index(0)
{
  (*this)[0] = tx;
  (*this)[1] = ty;
  (*this)[2] = tz;
}

vpTranslationVector::vpTranslationVector(const vpHomogeneousMatrix &M) : vpArray2D<double>(3, 1), m_index(0) { M.extract(*this); }

vpTranslationVector::vpTranslationVector(const vpPoseVector &p) : vpArray2D<double>(3, 1), m_index(0)
{
  (*this)[0] = p[0];
  (*this)[1] = p[1];
  (*this)[2] = p[2];
}

vpTranslationVector::vpTranslationVector(const vpTranslationVector &tv) : vpArray2D<double>(tv), m_index(0) {}

vpTranslationVector::vpTranslationVector(const vpColVector &v) : vpArray2D<double>(v), m_index(0)
{
  if (v.size() != 3) {
    throw(vpException(vpException::dimensionError,
                      "Cannot construct a translation vector from a "
                      "%d-dimension column vector",
                      v.size()));
  }
}

vpTranslationVector vpTranslationVector::buildFrom(const vpHomogeneousMatrix &M)
{
  M.extract(*this);
  return *this;
}

vpTranslationVector vpTranslationVector::buildFrom(const vpPoseVector &p)
{
  (*this)[0] = p[0];
  (*this)[1] = p[1];
  (*this)[2] = p[2];
  return *this;
}

vpTranslationVector vpTranslationVector::buildFrom(const vpColVector &v)
{
  if (v.size() != 3) {
    throw(vpException(vpException::dimensionError,
                      "Cannot build a translation vector from a %d-dimension column vector", v.size()));
  }

  (*this)[0] = v[0];
  (*this)[1] = v[1];
  (*this)[2] = v[2];
  return *this;
}

vpTranslationVector vpTranslationVector::buildFrom(double tx, double ty, double tz)
{
  set(tx, ty, tz);
  return *this;
}

void vpTranslationVector::set(double tx, double ty, double tz)
{
  (*this)[0] = tx;
  (*this)[1] = ty;
  (*this)[2] = tz;
}

vpTranslationVector vpTranslationVector::operator+(const vpTranslationVector &tv) const
{
  vpTranslationVector s;

  for (unsigned int i = 0; i < 3; i++)
    s[i] = (*this)[i] + tv[i];

  return s;
}
vpTranslationVector vpTranslationVector::operator+(const vpColVector &v) const
{
  if (v.size() != 3) {
    throw(vpException(vpException::dimensionError, "Cannot add translation vector to a %d-dimension column vector",
                      v.size()));
  }
  vpTranslationVector s;

  for (unsigned int i = 0; i < 3; i++)
    s[i] = (*this)[i] + v[i];

  return s;
}

vpTranslationVector vpTranslationVector::operator-(const vpTranslationVector &tv) const
{
  vpTranslationVector sub;

  for (unsigned int i = 0; i < 3; i++)
    sub[i] = (*this)[i] - tv[i];

  return sub;
}

vpTranslationVector vpTranslationVector::operator-() const // negate
{
  vpTranslationVector tv;
  for (unsigned int i = 0; i < dsize; i++) {
    *(tv.data + i) = -*(data + i);
  }

  return tv;
}

vpTranslationVector vpTranslationVector::operator*(double x) const
{
  vpTranslationVector tv;
  for (unsigned int i = 0; i < dsize; i++) {
    *(tv.data + i) = (*(data + i)) * x;
  }

  return tv;
}

vpMatrix vpTranslationVector::operator*(const vpRowVector &v) const
{
  vpMatrix M(rowNum, v.getCols());
  for (unsigned int i = 0; i < rowNum; i++) {
    for (unsigned int j = 0; j < v.getCols(); j++) {
      M[i][j] = (*this)[i] * v[j];
    }
  }
  return M;
}

vpTranslationVector &vpTranslationVector::operator*=(double x)
{
  for (unsigned int i = 0; i < rowNum; i++)
    (*this)[i] *= x;
  return (*this);
}
vpTranslationVector &vpTranslationVector::operator/=(double x)
{
  for (unsigned int i = 0; i < rowNum; i++)
    (*this)[i] /= x;
  return (*this);
}

vpTranslationVector vpTranslationVector::operator/(double x) const
{
  vpTranslationVector tv;
  for (unsigned int i = 0; i < dsize; i++) {
    *(tv.data + i) = (*(data + i)) / x;
  }

  return tv;
}

vpTranslationVector &vpTranslationVector::operator=(const vpColVector &tv)
{
  if (tv.size() != 3) {
    throw(vpException(vpException::dimensionError,
                      "Cannot initialize a translation vector from a "
                      "%d-dimension col vector",
                      tv.size()));
  }
  unsigned int k = tv.size();
  if (rowNum != k) {
    try {
      resize(k, 1);
    } catch (...) {
      throw;
    }
  }

  memcpy(data, tv.data, rowNum * sizeof(double));

  return *this;
}
vpTranslationVector &vpTranslationVector::operator=(const vpTranslationVector &tv)
{
  unsigned int k = tv.rowNum;
  if (rowNum != k) {
    try {
      resize(k, 1);
    } catch (...) {
      throw;
    }
  }

  memcpy(data, tv.data, rowNum * sizeof(double));

  return *this;
}

vpTranslationVector &vpTranslationVector::operator=(double x)
{
  double *d = data;

  for (int i = 0; i < 3; i++)
    *(d++) = x;

  return *this;
}

#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)

vpTranslationVector &vpTranslationVector::operator=(const std::initializer_list<double> &list)
{
  if (list.size() > size()) {
    throw(vpException(vpException::dimensionError, "Cannot set translation vector out of bounds. It has only %d values while you try to initialize with %d values", size(), list.size()));
  }
  std::copy(list.begin(), list.end(), data);
  return *this;
}
#endif

vpTranslationVector& vpTranslationVector::operator<<(double val)
{
  m_index = 0;
  data[m_index] = val;
  return *this;
}

vpTranslationVector& vpTranslationVector::operator,(double val)
{
  m_index ++;
  if (m_index >= size()) {
    throw(vpException(vpException::dimensionError, "Cannot set translation vector out of bounds. It has only %d values while you try to initialize with %d values", size(), m_index+1));
  }
  data[m_index] = val;
  return *this;
}

void vpTranslationVector::skew(const vpTranslationVector &tv, vpMatrix &M)
{
  M.resize(3, 3);
  M[0][0] = 0;
  M[0][1] = -tv[2];
  M[0][2] = tv[1];
  M[1][0] = tv[2];
  M[1][1] = 0;
  M[1][2] = -tv[0];
  M[2][0] = -tv[1];
  M[2][1] = tv[0];
  M[2][2] = 0;
}

vpMatrix vpTranslationVector::skew(const vpTranslationVector &tv)
{
  vpMatrix M(3, 3);
  skew(tv, M);
  return M;
}

vpMatrix vpTranslationVector::skew() const
{
  vpMatrix M(3, 3);
  skew(*this, M);
  return M;
}

vpTranslationVector vpTranslationVector::cross(const vpTranslationVector &a, const vpTranslationVector &b)
{
  vpMatrix skew_a = vpTranslationVector::skew(a);
  return (vpTranslationVector)(skew_a * b);
}

vpRowVector vpTranslationVector::t() const
{
  vpRowVector v(rowNum);
  memcpy(v.data, data, rowNum * sizeof(double));
  return v;
}

double vpTranslationVector::euclideanNorm() const
{
  return frobeniusNorm();
}

double vpTranslationVector::frobeniusNorm() const
{
  double norm = sumSquare();

  return sqrt(norm);
}

double vpTranslationVector::sumSquare() const
{
  double sum_square = 0.0;

  for (unsigned int i = 0; i < rowNum; i++) {
    double x = rowPtrs[i][0];
    sum_square += x * x;
  }

  return sum_square;
}

vpTranslationVector vpTranslationVector::mean(const std::vector<vpHomogeneousMatrix> &vec_M)
{
  vpColVector meanT(3);
  for (size_t i = 0; i < vec_M.size(); i++) {
    meanT += (vpColVector) vec_M[i].getTranslationVector();
  }
  meanT /= static_cast<double>(vec_M.size());

  vpTranslationVector t(meanT);
  return t;
}

vpTranslationVector vpTranslationVector::mean(const std::vector<vpTranslationVector> &vec_t)
{
  vpColVector meanT(3);
  for (size_t i = 0; i < vec_t.size(); i++) {
    meanT += (vpColVector) vec_t[i];
  }
  meanT /= static_cast<double>(vec_t.size());

  vpTranslationVector t(meanT);
  return t;
}