vpRotationVector.h

/****************************************************************************
 *
 * 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:
 * Generic rotation vector (cannot be used as is !).
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpRotationVECTOR_H
#define vpRotationVECTOR_H

#include <iostream>
#include <math.h>
#include <stdio.h>

#include <visp3/core/vpArray2D.h>

class vpRowVector;
class vpColVector;

class VISP_EXPORT vpRotationVector : public vpArray2D<double>
{
public:
  vpRotationVector() : vpArray2D<double>(), m_index(0) {}

  explicit vpRotationVector(unsigned int n) : vpArray2D<double>(n, 1), m_index(0) {}

  vpRotationVector(const vpRotationVector &v) : vpArray2D<double>(v), m_index(0) {}

  virtual ~vpRotationVector(){};


  inline double &operator[](unsigned int i) { return *(data + i); }
  inline const double &operator[](unsigned int i) const { return *(data + i); }

  vpRotationVector &operator=(const vpRotationVector &v)
  {
    resize(v.size(), 1);
    for (unsigned int i = 0; i < v.size(); i++) {
      data[i] = v.data[i];
    }
    return *this;
  }

  vpColVector operator*(double x) const;

  vpRotationVector &operator<<(double val);
  vpRotationVector &operator,(double val);

  double sumSquare() const;

  // Transpose of the rotation vector.
  vpRowVector t() const;

  std::vector<double> toStdVector() const;


protected:
  unsigned int m_index; // index used for operator<< and operator, to fill a vector
};

#ifndef DOXYGEN_SHOULD_SKIP_THIS
VISP_EXPORT
#endif
vpColVector operator*(const double &x, const vpRotationVector &v);

#endif