Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
Public Member Functions | Public Attributes | Protected Attributes | Related Functions | List of all members
vpPoseVector Class Reference
core: Core module » Mathematics » Tranformations

#include <visp3/core/vpPoseVector.h>

+ Inheritance diagram for vpPoseVector:

Public Member Functions

 vpPoseVector ()
 
 vpPoseVector (double tx, double ty, double tz, double tux, double tuy, double tuz)
 
 vpPoseVector (const vpHomogeneousMatrix &M)
 
 vpPoseVector (const vpTranslationVector &tv, const vpThetaUVector &tu)
 
 vpPoseVector (const vpTranslationVector &tv, const vpRotationMatrix &R)
 
virtual ~vpPoseVector ()
 
vpPoseVector buildFrom (double tx, double ty, double tz, double tux, double tuy, double tuz)
 
vpPoseVector buildFrom (const vpHomogeneousMatrix &M)
 
vpPoseVector buildFrom (const vpTranslationVector &tv, const vpThetaUVector &tu)
 
vpPoseVector buildFrom (const vpTranslationVector &tv, const vpRotationMatrix &R)
 
void extract (vpRotationMatrix &R) const
 
void extract (vpThetaUVector &tu) const
 
void extract (vpTranslationVector &tv) const
 
void extract (vpQuaternionVector &q) const
 
vpRotationMatrix getRotationMatrix () const
 
vpThetaUVector getThetaUVector () const
 
vpTranslationVector getTranslationVector () const
 
void load (std::ifstream &f)
 
double & operator[] (unsigned int i)
 
const double & operator[] (unsigned int i) const
 
void print () const
 
int print (std::ostream &s, unsigned int length, char const *intro=0) const
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true)
 
void save (std::ofstream &f) const
 
void set (double tx, double ty, double tz, double tux, double tuy, double tuz)
 
vpRowVector t () const
 
bool operator== (const vpArray2D< float > &A) const
 
Deprecated functions
vp_deprecated void init ()
 
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 rowNum
 
unsigned int colNum
 
double ** rowPtrs
 
unsigned int dsize
 

Related Functions

(Note that these are not member functions.)

enum  vpGEMMmethod
 
bool operator== (const vpArray2D< double > &A) const
 
void vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)
 

Detailed Description

Implementation of a pose vector and operations on poses.

The vpPose class implements a complete representation of every rigid motion in the euclidian space.

The vpPose class is derived from vpArray2D<double>.

The pose is composed of a translation and a rotation minimaly represented by a 6 dimension pose vector as:

\[ ^{a}{\bf r}_b = [^{a}{\bf t}_{b},\theta {\bf u}]^\top \in R^6\]

where $ ^{a}{\bf r}_b $ is the pose from frame $ a $ to frame $ b $, with $ ^{a}{\bf t}_{b} $ being the translation vector between these frames along the x,y,z axis and $\theta \bf u $, the axis-angle representation of the rotation $^{a}\bf{R}_{b}$ between these frames.

Translations are expressed in meters, while the angles in the $\theta {\bf u}$ axis-angle representation are expressed in radians.

To know more about the $\theta \bf u$ rotation representation, see vpThetaUVector documentation.

The following code shows how to initialize a pose vector:

#include <visp3/core/vpPoseVector.h>
int main()
{
vpPoseVector pose;
pose[0] = 0.1; // tx
pose[1] = 0.2; // ty
pose[2] = 0.3; // tz
pose[3] = M_PI; // tux
pose[4] = M_PI_2; // tux
pose[5] = M_PI_4; // tuz
std::cout << "pose vector:\n" << pose << std::endl;
}

It produces the following printings:

pose vector:
0.1
0.2
0.3
3.141592654
1.570796327
0.7853981634

The same initialization could be achieved this way:

#include <visp3/core/vpPoseVector.h>
int main()
{
vpTranslationVector t;
vpThetaUVector tu;
t << 0.1, 0.2, 0.3;
tu << M_PI, M_PI_2, M_PI_4;
vpPoseVector pose(t, tu);
}

If ViSP is build with c++11 suport, you could also initialize the vector using:

#include <visp3/core/vpPoseVector.h>
int main()
{
vpTranslationVector t;
vpThetaUVector tu;
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
t = { 0.1, 0.2, 0.3 };
tu = { M_PI, M_PI_2, M_PI_4 };
#endif
vpPoseVector pose(t, tu);
}
Examples:
calibrate-hand-eye.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuThetaUCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testAprilTag.cpp, testFindMatch.cpp, testFrankaGetPose.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseHapticBox.cpp, testVirtuosePeriodicFunction.cpp, testVirtuoseWithGlove.cpp, tutorial-chessboard-pose.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-franka-acquire-calib-data.cpp, tutorial-hand-eye-calibration.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-pose-from-points-live.cpp, and tutorial-pose-from-points-realsense-T265.cpp.

Definition at line 151 of file vpPoseVector.h.

Constructor & Destructor Documentation

◆ vpPoseVector() [1/5]

vpPoseVector::vpPoseVector ( )

Default constructor that construct a 6 dimension pose vector $ [\bf t, \theta \bf u]^\top$ where $ \theta \bf u$ is a rotation vector $[\theta u_x, \theta u_y, \theta u_z]^\top$ and $ \bf t $ is a translation vector $[t_x, t_y, t_z]^\top$.

The pose vector is initialized to zero.

Definition at line 66 of file vpPoseVector.cpp.

◆ vpPoseVector() [2/5]

vpPoseVector::vpPoseVector ( double  tx,
double  ty,
double  tz,
double  tux,
double  tuy,
double  tuz 
)

Construct a 6 dimension pose vector $ [\bf{t}, \theta \bf{u}]^\top$ from 3 translations and 3 $ \theta \bf{u}$ angles.

Translations are expressed in meters, while rotations in radians.

Parameters
tx,ty,tz: Translations $[t_x, t_y, t_z]^\top$ respectively along the x, y and z axis (in meters).
tux,tuy,tuz: Rotations $[\theta u_x, \theta u_y, \theta u_z]^\top$ respectively around the x, y and z axis (in radians).

Definition at line 83 of file vpPoseVector.cpp.

◆ vpPoseVector() [3/5]

vpPoseVector::vpPoseVector ( const vpHomogeneousMatrix &  M)
explicit

Construct a 6 dimension pose vector $ [\bf t, \theta \bf u]^\top$ from an homogeneous matrix $ \bf M $.

Parameters
M: Homogeneous matrix $ \bf M $ from which translation $ \bf t $ and $\theta \bf u $ vectors are extracted to initialize the pose vector.

Definition at line 137 of file vpPoseVector.cpp.

References buildFrom().

◆ vpPoseVector() [4/5]

vpPoseVector::vpPoseVector ( const vpTranslationVector &  tv,
const vpThetaUVector &  tu 
)

Construct a 6 dimension pose vector $ [\bf t, \theta \bf u]^\top$ from a translation vector $ \bf tv $ and a $\theta \bf u$ vector.

Parameters
tv: Translation vector $ \bf t $.
tu: $\theta \bf u$ rotation vector.

Definition at line 105 of file vpPoseVector.cpp.

References buildFrom().

◆ vpPoseVector() [5/5]

vpPoseVector::vpPoseVector ( const vpTranslationVector &  tv,
const vpRotationMatrix &  R 
)

Construct a 6 dimension pose vector $ [\bf t, \theta \bf u]^\top$ from a translation vector $ \bf t $ and a rotation matrix $ \bf R $.

Parameters
tv: Translation vector $ \bf t $.
R: Rotation matrix $ \bf R $ from which $\theta \bf u$ vector is extracted to initialise the pose vector.

Definition at line 122 of file vpPoseVector.cpp.

References buildFrom().

◆ ~vpPoseVector()

virtual vpPoseVector::~vpPoseVector ( )
inlinevirtual

Destructor.

Definition at line 167 of file vpPoseVector.h.

References vpArray2D< Type >::load().

Member Function Documentation

◆ buildFrom() [1/4]

vpPoseVector vpPoseVector::buildFrom ( double  tx,
double  ty,
double  tz,
double  tux,
double  tuy,
double  tuz 
)

Build a 6 dimension pose vector $ [\bf t, \theta \bf u]^\top$ from 3 translations and 3 $ \theta \bf{u}$ angles.

Translations are expressed in meters, while rotations in radians.

Parameters
tx,ty,tz: Translations $[t_x, t_y, t_z]^\top$ respectively along the x, y and z axis (in meters).
tux,tuy,tuz: Rotations $[\theta u_x, \theta u_y, \theta u_z]^\top$ respectively around the x, y and z axis (in radians).
Returns
The build pose vector.
See also
set()
Examples:
testPoseFeatures.cpp, and testPoseVector.cpp.

Definition at line 181 of file vpPoseVector.cpp.

Referenced by buildFrom(), vpPtu46::computeMGD(), vpBiclops::computeMGD(), vpBiclops::get_fMc(), vpVirtuose::getAvatarPosition(), vpVirtuose::getBaseFrame(), vpVirtuose::getObservationFrame(), vpVirtuose::getPhysicalPosition(), vpVirtuose::getPosition(), vpRobotFranka::getPosition(), vpMbTracker::savePose(), and vpPoseVector().

◆ buildFrom() [2/4]

vpPoseVector vpPoseVector::buildFrom ( const vpHomogeneousMatrix &  M)

Build a 6 dimension pose vector $ [\bf t, \theta \bf u]^\top$ from an homogeneous matrix $ \bf M $.

Parameters
M: Homogeneous matrix $ \bf M $ from which translation $ \bf t $ and $\theta \bf u $ vectors are extracted to initialize the pose vector.
Returns
The build pose vector.

Definition at line 204 of file vpPoseVector.cpp.

References buildFrom(), and vpHomogeneousMatrix::extract().

◆ buildFrom() [3/4]

vpPoseVector vpPoseVector::buildFrom ( const vpTranslationVector &  tv,
const vpThetaUVector &  tu 
)

Build a 6 dimension pose vector $ [\bf t, \theta \bf u]^\top$ from a translation vector $ \bf t $ and a $\theta \bf u$ vector.

Parameters
tv: Translation vector $ \bf t $.
tu: $\theta \bf u$ rotation vector.
Returns
The build pose vector.

Definition at line 225 of file vpPoseVector.cpp.

◆ buildFrom() [4/4]

vpPoseVector vpPoseVector::buildFrom ( const vpTranslationVector &  tv,
const vpRotationMatrix &  R 
)

Build a 6 dimension pose vector $ [\bf t, \theta \bf u]^\top$ from a translation vector $ \bf t $ and a rotation matrix $ \bf R $.

Parameters
tv: Translation vector $ \bf t $.
R: Rotation matrix $ \bf R $ from which $\theta \bf u$ vector is extracted to initialise the pose vector.
Returns
The build pose vector.

Definition at line 247 of file vpPoseVector.cpp.

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

◆ extract() [1/4]

void vpPoseVector::extract ( vpRotationMatrix &  R) const

Extract the rotation as a rotation matrix.

Examples:
testVirtuoseHapticBox.cpp.

Definition at line 286 of file vpPoseVector.cpp.

References vpRotationMatrix::buildFrom().

Referenced by vpVirtuose::setBaseFrame(), vpVirtuose::setObservationFrame(), and vpVirtuose::setPosition().

◆ extract() [2/4]

void vpPoseVector::extract ( vpThetaUVector &  tu) const

Extract the rotation as a $\theta \bf u$ vector.

Definition at line 269 of file vpPoseVector.cpp.

◆ extract() [3/4]

void vpPoseVector::extract ( vpTranslationVector &  tv) const

Extract the translation vector from the homogeneous matrix.

Definition at line 259 of file vpPoseVector.cpp.

◆ extract() [4/4]

void vpPoseVector::extract ( vpQuaternionVector &  q) const

Extract the rotation as a quaternion vector.

Definition at line 278 of file vpPoseVector.cpp.

References vpQuaternionVector::buildFrom().

◆ getCols()

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

Return the number of columns of the 2D array.

See also
getRows(), size()
Examples:
servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 279 of file vpArray2D.h.

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

Referenced by vpMatrix::cond(), vpRowVector::cppPrint(), vpMatrix::cppPrint(), vpRowVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpRotationMatrix::isARotationMatrix(), vpMatrix::kernel(), vpRowVector::maplePrint(), vpMatrix::maplePrint(), vpRowVector::matlabPrint(), vpMatrix::matlabPrint(), 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().

◆ getMaxValue()

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

Return the array max value.

Examples:
servoMomentImage.cpp, and testArray2D.cpp.

Definition at line 912 of file vpArray2D.h.

References vpArray2D< Type >::data.

◆ getMinValue()

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

Return the array min value.

Examples:
servoMomentImage.cpp, and testArray2D.cpp.

Definition at line 895 of file vpArray2D.h.

References vpArray2D< Type >::data.

◆ getRotationMatrix()

vpRotationMatrix vpPoseVector::getRotationMatrix ( ) const

Return the rotation matrix that corresponds to the rotation part of the pose vector.

Definition at line 301 of file vpPoseVector.cpp.

◆ getRows()

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

Return the number of rows of the 2D array.

See also
getCols(), size()
Examples:
mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, 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(), print(), vpColVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

◆ getThetaUVector()

vpThetaUVector vpPoseVector::getThetaUVector ( ) const

Return the $\theta {\bf u}$ vector that corresponds to the rotation part of the pose vector.

Examples:
testAprilTag.cpp.

Definition at line 311 of file vpPoseVector.cpp.

◆ getTranslationVector()

vpTranslationVector vpPoseVector::getTranslationVector ( ) const

Return the translation vector that corresponds to the translation part of the pose vector.

Examples:
testAprilTag.cpp.

Definition at line 291 of file vpPoseVector.cpp.

◆ hadamard()

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

Compute the Hadamard product (element wise matrix multiplication).

Parameters
m: Second matrix;
Returns
m1.hadamard(m2) The Hadamard product : $ m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j} $
Examples:
testArray2D.cpp.

Definition at line 932 of file vpArray2D.h.

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

◆ init()

vp_deprecated void vpPoseVector::init ( )
inline
Deprecated:
Provided only for compat with previous releases. This function does nothing.

Definition at line 265 of file vpPoseVector.h.

◆ load() [1/2]

void vpPoseVector::load ( std::ifstream &  f)

Read a pose vector from an input file stream.

Parameters
f: The input file stream..Should be open before entering in this method.
Exceptions
vpException::ioError: If the input file stream is not open.
See also
save()

Definition at line 378 of file vpPoseVector.cpp.

References vpException::ioError.

Referenced by vpViewer::resize().

◆ load() [2/2]

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().

◆ loadYAML()

static bool vpArray2D< double >::loadYAML ( const std::string &  filename,
vpArray2D< double > &  A,
char *  header = NULL 
)
inlinestaticinherited

Load an array from a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be loaded from the file.
header: header of the file is loaded in this parameter.
Returns
Returns true on success.
See also
saveYAML()
Examples:
servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 652 of file vpArray2D.h.

References vpArray2D< Type >::resize().

◆ operator!=()

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

Not equal to comparison operator of a 2D array.

Definition at line 996 of file vpArray2D.h.

◆ operator==() [1/2]

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

Equal to comparison operator of a 2D array.

Definition at line 948 of file vpArray2D.h.

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

◆ operator==() [2/2]

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

Definition at line 981 of file vpArray2D.h.

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

◆ operator[]() [1/2]

double& vpPoseVector::operator[] ( unsigned int  i)
inline

Set the value of an element of the pose vector: r[i] = x.

Parameters
i: Pose vector element index
// Create a pose vector with translation and rotation set to zero
vpPoseVector r;
// Initialize the pose vector
r[0] = 1;
r[1] = 2;
r[2] = 3;
r[3] = M_PI;
r[4] = -M_PI;
r[5] = 0;

This code produces the same effect:

vpPoseVector r(1, 2, 3, M_PI, -M_PI, 0);

Definition at line 213 of file vpPoseVector.h.

◆ operator[]() [2/2]

const double& vpPoseVector::operator[] ( unsigned int  i) const
inline

Get the value of an element of the pose vector: x = r[i].

Parameters
i: Pose vector element index
vpPoseVector r(1, 2, 3, M_PI, -M_PI, 0);
double tx,ty,tz; // Translation
double tux, tuy,tuz; // Theta u rotation
tx = r[0];
ty = r[1];
tz = r[2];
tux = r[3];
tuy = r[4];
tuz = r[5];

Definition at line 232 of file vpPoseVector.h.

◆ print() [1/2]

void vpPoseVector::print ( ) const

Prints to the standart stream the pose vector.

Warning
Values concerning the $ \theta {\bf u}$ rotation are converted in degrees.

The following code

// Create a pose vector
vpPoseVector r(1, 2, 3, M_PI, -M_PI, 0);
r.print();

produces the output:

1 2 3 180 -180 0
See also
std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)

Definition at line 338 of file vpPoseVector.cpp.

References vpMath::deg().

Referenced by vpViewer::resize().

◆ print() [2/2]

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

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

Parameters
sStream used for the printing.
lengthThe 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.
introThe 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)

Definition at line 419 of file vpPoseVector.cpp.

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

◆ reshape()

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.

◆ resize() [1/2]

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

This function is not applicable to a pose vector that is always a 6-by-1 column vector.

Exceptions
vpException::fatalErrorWhen this function is called.

Definition at line 243 of file vpPoseVector.h.

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

◆ resize() [2/2]

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().

◆ save() [1/2]

void vpPoseVector::save ( std::ofstream &  f) const

Save the pose vector in the output file stream.

Parameters
f: Output file stream. Should be open before entering in this method.
Exceptions
vpException::ioError: If the output stream is not open.
See also
load()

Definition at line 359 of file vpPoseVector.cpp.

References vpException::ioError.

Referenced by vpViewer::resize().

◆ save() [2/2]

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().

◆ saveYAML()

static bool vpArray2D< double >::saveYAML ( const std::string &  filename,
const vpArray2D< double > &  A,
const char *  header = "" 
)
inlinestaticinherited

Save an array in a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be saved in the file.
header: optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.
Returns
Returns true if success.

Here is an example of outputs.

vpArray2D<double> M(3,4);
vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n - a YAML-formatted
header\n - with inner indentation");

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
data:
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]

Content of matrixIndent.yml:

example:
- a YAML-formatted header
- with inner indentation
rows: 3
cols: 4
data:
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
See also
loadYAML()
Examples:
tutorial-chessboard-pose.cpp, tutorial-franka-acquire-calib-data.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 830 of file vpArray2D.h.

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

◆ set()

void vpPoseVector::set ( double  tx,
double  ty,
double  tz,
double  tux,
double  tuy,
double  tuz 
)

Set the 6 dimension pose vector $ [\bf{t}, \theta \bf{u}]^\top$ from 3 translations and 3 $ \theta \bf{u}$ angles.

Translations are expressed in meters, while rotations in radians.

Parameters
tx,ty,tz: Translations $[t_x, t_y, t_z]^\top$ respectively along the x, y and z axis (in meters).
tux,tuy,tuz: Rotations $[\theta u_x, \theta u_y, \theta u_z]^\top$ respectively around the x, y and z axis (in radians).
Examples:
testPoseVector.cpp.

Definition at line 154 of file vpPoseVector.cpp.

◆ size()

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

Return the number of elements of the 2D array.

Examples:
testColVector.cpp, testDisplacement.cpp, testEigenConversion.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRowVector.cpp, testThread2.cpp, testTranslationVector.cpp, testTukeyEstimator.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.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().

◆ t()

vpRowVector vpPoseVector::t ( ) const
Examples:
calibrate-hand-eye.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testAprilTag.cpp, testFindMatch.cpp, testFrankaGetPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testVirtuosePeriodicFunction.cpp, testVirtuoseWithGlove.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 393 of file vpPoseVector.cpp.

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

Referenced by vpHomogeneousMatrix::print().

Friends And Related Function Documentation

◆ operator==()

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

Definition at line 966 of file vpArray2D.h.

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

◆ vpGEMM()

void vpGEMM ( const vpArray2D< double > &  A,
const vpArray2D< double > &  B,
const double &  alpha,
const vpArray2D< double > &  C,
const double &  beta,
vpArray2D< double > &  D,
const unsigned int &  ops = 0 
)
related

This function performs generalized matrix multiplication: D = alpha*op(A)*op(B) + beta*op(C), where op(X) is X or X^T. Operation on A, B and C matrices is described by enumeration vpGEMMmethod().

For example, to compute D = alpha*A^T*B^T+beta*C we need to call :

vpGEMM(A, B, alpha, C, beta, D, VP_GEMM_A_T + VP_GEMM_B_T);

If C is not used, vpGEMM must be called using an empty array null. Thus to compute D = alpha*A^T*B, we have to call:

vpGEMM(A, B, alpha, null, 0, D, VP_GEMM_B_T);
Exceptions
vpException::incorrectMatrixSizeErrorif the sizes of the matrices do not allow the operations.
Parameters
A: An array that could be a vpMatrix.
B: An array that could be a vpMatrix.
alpha: A scalar.
C: An array that could be a vpMatrix.
beta: A scalar.
D: The resulting array that could be a vpMatrix.
ops: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 393 of file vpGEMM.h.

References vpException::functionNotImplementedError.

◆ vpGEMMmethod

enum vpGEMMmethod
related

Enumeration of the operations applied on matrices in vpGEMM() function.

Operations are :

  • VP_GEMM_A_T to use the transpose matrix of A instead of the matrix A
  • VP_GEMM_B_T to use the transpose matrix of B instead of the matrix B
  • VP_GEMM_C_T to use the transpose matrix of C instead of the matrix C

Definition at line 57 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 137 of file vpArray2D.h.

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

◆ data

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

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

Definition at line 145 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpQuaternionVector::buildFrom(), vpHomogeneousMatrix::buildFrom(), vpThetaUVector::buildFrom(), vpRzyzVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUOpenCV(), vpMatrix::expm(), vpThetaUVector::extract(), vpMatrix::frobeniusNorm(), vpMatrix::getRow(), vpThetaUVector::getTheta(), vpThetaUVector::getU(), vpColVector::hadamard(), vpMatrix::hadamard(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpColVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUOpenCV(), vpTranslationVector::operator*(), vpRowVector::operator*(), vpHomography::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpRotationVector::operator,(), vpTranslationVector::operator,(), 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=(), 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(), 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().

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 141 of file vpArray2D.h.

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

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 135 of file vpArray2D.h.

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

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 139 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpColVector::clear(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::init(), vpColVector::init(), vpMatrix::init(), vpRotationMatrix::operator*(), vpForceTwistMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpHomogeneousMatrix::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpMatrix::operator*=(), vpMatrix::operator+=(), vpMatrix::operator,(), vpMatrix::operator-=(), vpMatrix::operator/(), vpMatrix::operator/=(), 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().