#include <visp3/core/vpColVector.h>

Inheritance diagram for vpColVector:

Public Member Functions
	vpColVector ()

	vpColVector (unsigned int n)

	vpColVector (unsigned int n, double val)

	vpColVector (const vpColVector &v)

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

	vpColVector (const vpRotationVector &v)

	vpColVector (const vpPoseVector &p)

	vpColVector (const vpTranslationVector &t)

	vpColVector (const vpMatrix &M)

	vpColVector (const vpMatrix &M, unsigned int j)

	vpColVector (const std::vector< double > &v)

	vpColVector (const std::vector< float > &v)

	vpColVector (vpColVector &&v)

	vpColVector (const std::initializer_list< double > &list)

virtual	~vpColVector ()

void	clear ()

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

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

vpColVector &	deg2rad ()

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

vpColVector &	operator= (const vpColVector &v)

vpColVector &	operator= (const vpPoseVector &p)

vpColVector &	operator= (const vpRotationVector &rv)

vpColVector &	operator= (const vpTranslationVector &tv)

vpColVector &	operator= (const vpMatrix &M)

vpColVector &	operator= (const std::vector< double > &v)

vpColVector &	operator= (const std::vector< float > &v)

vpColVector &	operator= (double x)

vpColVector &	operator= (vpColVector &&v)

vpColVector &	operator= (const std::initializer_list< double > &list)

bool	operator== (const vpColVector &v) const

bool	operator== (double v) const

bool	operator!= (const vpColVector &v) const

bool	operator!= (double 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-= (vpColVector v)

vpColVector	operator- () const

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

vpColVector &	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 () const

vpRowVector	transpose () const

void	transpose (vpRowVector &v) const

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	insert (const vpArray2D< double > &A, unsigned int r, unsigned int c)

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

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

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

Public Attributes
double *	data

Protected Attributes
unsigned int	rowNum

unsigned int	colNum

double **	rowPtrs

unsigned int	dsize

Friends
class	vpMatrix

void	to_json (nlohmann::json &j, const vpColVector &cam)

void	from_json (const nlohmann::json &j, vpColVector &cam)

Related Functions
(Note that these are not member functions.)
vpColVector	operator* (const double &x, const vpColVector &v)

enum	vpGEMMmethod

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

bool	operator== (const vpArray2D< float > &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)

Deprecated functions
vp_deprecated void	init ()

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)

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

vp_deprecated double	euclideanNorm () const

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

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

Inherited I/O from vpArray2D with Static Public Member Functions
vpArray2D< double >	insert (const vpArray2D< double > &A, const vpArray2D< double > &B, unsigned int r, unsigned int c)

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="")

static vpArray2D< double >	conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, const std::string &mode)

static void	conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, vpArray2D< double > &res, const std::string &mode)

static void	insert (const vpArray2D< double > &A, const vpArray2D< double > &B, vpArray2D< double > &C, unsigned int r, unsigned int c)

Detailed Description

Implementation of column vector and the associated operations.

This class provides a data structure for a column vector that contains values of double. It contains also some functions to achieve a set of operations on these vectors.

The vpColVector class is derived from vpArray2D<double>.

The code below shows how to create a 3-element column vector of doubles, set the element values and access them:

#include <visp3/code/vpColVector.h
 
int main()
{
  vpColVector v(3);
  v[0] = -1; v[1] = -2.1; v[2] = -3;
 
  std::cout << "v:" << std::endl;
  for (unsigned int i = 0; i < v.size(); i++) {
    std::cout << v[i] << std::endl;
  }
}

Once build, this previous code produces the following output:

v:
-1
-2.1
-3

You can also use operator<< to initialize a column vector as previously:

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

If ViSP is build with c++11 enabled, you can do the same using:

#include <visp3/code/vpColVector.h
 
int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpColVector v({-1, -2.1, -3});
  std::cout << "v:\n" << v << std::endl;
#endif
}

The vector could also be initialized using operator=(const std::initializer_list< double > &)

int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpColVector v;
  v = {-1, -2.1, -3};
#endif
}

JSON serialization

Since ViSP 3.6.0, if ViSP is build with JSON for modern C++ 3rd-party we introduce JSON serialization capabilities for vpColVector. The following sample code shows how to save a pose vector in a file named col-vector.json and reload the values from this JSON file.

#include <visp3/core/vpColVector.h>
 
int main()
{
#if defined(VISP_HAVE_NLOHMANN_JSON)
  std::string filename = "col-vector.json";
  {
    vpColVector v({ 1, 2, 3, 4 });
    std::ofstream file(filename);
    const nlohmann::json j = v;
    file << j;
    file.close();
  }
  {
    std::ifstream file(filename);
    const nlohmann::json j = nlohmann::json::parse(file);
    vpColVector v;
    v = j.get<vpColVector>();
    file.close();
    std::cout << "Read homogeneous matrix from " << filename << ":\n" << v.t() << std::endl;
  }
#endif
}

If you build and execute the sample code, it will produce the following output:

Read homogeneous matrix from col-vector.json:

1 2 3 4

The content of the pose-vector.json file is the following:

$ cat col-vector.json

{"cols":1,"data":[1.0,2.0,3.0,4.0],"rows":4,"type":"vpColVector"}

Examples: ClassUsingPclViewer.cpp, ClassUsingPclViewer.h, UniversalRobotsSavePosition.cpp, calibrate-hand-eye.cpp, exponentialMap.cpp, frankaSavePosition.cpp, grabRealSense2_T265.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, homographyRansac2DObject.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, moveAfma4.cpp, moveBiclops.cpp, movePioneer.cpp, movePtu46.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, quadprog.cpp, quadprog_eq.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBebop2.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoKinovaJacoCart.cpp, servoKinovaJacoJoint.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPixhawkDroneIBVS.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, sonarPioneerReader.cpp, takktile2-control.cpp, templateTracker.cpp, testAprilTag.cpp, testArray2D.cpp, testColVector.cpp, testColorConversion.cpp, testComedi.cpp, testDisplacement.cpp, testEigenConversion.cpp, testFeatureSegment.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, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageFilter.cpp, testKalmanAcceleration.cpp, testKalmanVelocity.cpp, testMath.cpp, testMathUtils.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testOccipitalStructure_Core_imu.cpp, testPixhawkDroneVelocityControl.cpp, testPixhawkRoverVelocityControl.cpp, testQbSoftHand.cpp, testQuaternion2.cpp, testRealSense2_D435_align.cpp, testRealSense2_SR300.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_images_odometry_async.cpp, testRealSense2_T265_imu.cpp, testRobotAfma6Pose.cpp, testRobotBebop2.cpp, testRobotFlirPtu.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testRotation2.cpp, testSvd.cpp, testThread2.cpp, testTukeyEstimator.cpp, testTwistMatrix.cpp, testUniversalRobotsCartPosition.cpp, testUniversalRobotsCartVelocity.cpp, testUniversalRobotsGetData.cpp, testUniversalRobotsJointPosition.cpp, testUniversalRobotsJointVelocity.cpp, testViper650.cpp, testViper850.cpp, testVirtuose.cpp, testVirtuoseAfma6.cpp, testVirtuoseHapticBox.cpp, testVirtuoseJointLimits.cpp, testVirtuosePeriodicFunction.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-image-simulator.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-pioneer-robot.cpp, tutorial-pose-from-planar-object.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, and tutorial-template-tracker.cpp.

Definition at line 166 of file vpColVector.h.

Constructor & Destructor Documentation

◆ vpColVector() [1/14]

vpColVector::vpColVector ( )

inline

Basic constructor that creates an empty 0-size column vector.

Definition at line 172 of file vpColVector.h.

◆ vpColVector() [2/14]

vpColVector::vpColVector ( unsigned int n )

inlineexplicit

Construct a column vector of size n.

Warning: Elements are not initialized. If you want to set an initial value use vpColVector(unsigned int, double).

Definition at line 176 of file vpColVector.h.

◆ vpColVector() [3/14]

vpColVector::vpColVector	(	unsigned int	n,
		double	val
	)

inline

Construct a column vector of size n. Each element is set to val.

Definition at line 178 of file vpColVector.h.

◆ vpColVector() [4/14]

vpColVector::vpColVector ( const vpColVector & v )

inline

Copy constructor that allows to construct a column vector from an other one.

Definition at line 181 of file vpColVector.h.

◆ vpColVector() [5/14]

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

Construct a 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.

See also: init()

Definition at line 204 of file vpColVector.cpp.

References init().

◆ vpColVector() [6/14]

vpColVector::vpColVector ( const vpRotationVector & v )

Constructor that initialize a column vector from a 3-dim (Euler or $\theta {\bf u}$ ) or 4-dim (quaternion) rotation vector.

Definition at line 261 of file vpColVector.cpp.

References vpArray2D< Type >::size().

◆ vpColVector() [7/14]

vpColVector::vpColVector ( const vpPoseVector & p )

Constructor that initialize a column vector from a 6-dim pose vector.

Definition at line 267 of file vpColVector.cpp.

References vpArray2D< Type >::size().

◆ vpColVector() [8/14]

vpColVector::vpColVector ( const vpTranslationVector & t )

Constructor that initialize a column vector from a 3-dim translation vector.

Definition at line 273 of file vpColVector.cpp.

References vpArray2D< Type >::size().

◆ vpColVector() [9/14]

vpColVector::vpColVector ( const vpMatrix & M )

Constructor that creates a column vector from a m-by-1 matrix M.

Exceptions

vpException::dimensionError If the matrix is not a m-by-1 matrix.

Definition at line 292 of file vpColVector.cpp.

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

◆ vpColVector() [10/14]

vpColVector::vpColVector	(	const vpMatrix &	M,
		unsigned int	j
	)

Constructor that take column j of matrix M.

Definition at line 280 of file vpColVector.cpp.

References vpArray2D< Type >::getCols().

◆ vpColVector() [11/14]

vpColVector::vpColVector ( const std::vector< double > & v )

Constructor that creates a column vector from a std vector of double.

Definition at line 306 of file vpColVector.cpp.

◆ vpColVector() [12/14]

vpColVector::vpColVector ( const std::vector< float > & v )

Constructor that creates a column vector from a std vector of float.

Definition at line 314 of file vpColVector.cpp.

◆ vpColVector() [13/14]

vpColVector::vpColVector ( vpColVector && v )

Move constructor that take rvalue.

Definition at line 324 of file vpColVector.cpp.

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

◆ vpColVector() [14/14]

vpColVector::vpColVector ( const std::initializer_list< double > & list )

inline

Definition at line 197 of file vpColVector.h.

References vpArray2D< double >::data.

◆ ~vpColVector()

virtual vpColVector::~vpColVector ( )

inlinevirtual

Destructor.

Definition at line 205 of file vpColVector.h.

Member Function Documentation

◆ clear()

void vpColVector::clear ( )

inline

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

Examples: testColVector.cpp.

Definition at line 211 of file vpColVector.h.

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

Referenced by vpMbTracker::createCylinderBBox().

◆ conv2() [1/2]

vpArray2D< double > vpArray2D< double >::conv2	(	const vpArray2D< double > &	M,
		const vpArray2D< double > &	kernel,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First matrix.
kernel	: Second matrix.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Examples: testMatrixConvolution.cpp.

Definition at line 956 of file vpArray2D.h.

◆ conv2() [2/2]

void vpArray2D< double >::conv2	(	const vpArray2D< double > &	M,
		const vpArray2D< double > &	kernel,
		vpArray2D< double > &	res,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First array.
kernel	: Second array.
res	: Result.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Definition at line 970 of file vpArray2D.h.

◆ cppPrint()

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

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 1580 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

◆ cross()

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

inlinestatic

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 391 of file vpColVector.h.

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

◆ crossProd()

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

static

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

Parameters

[in]	a	: 3-dimension column vector.
[in]	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 1225 of file vpColVector.cpp.

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

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpMath::lookAt(), vpThetaUVector::operator*(), vpPose::poseLagrangePlan(), and vpImageSimulator::setCameraPosition().

◆ csvPrint()

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

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 1626 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

◆ deg2rad()

vpColVector& vpColVector::deg2rad ( )

inline

Converts a column vector containing angles in degrees into radians and returns a reference to the vector.

Returns: A reference to the vector with values expressed in [rad].

See also: rad2deg()

Definition at line 233 of file vpColVector.h.

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

◆ dotProd()

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

static

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 846 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(), vpThetaUVector::operator*(), and vpImageSimulator::setCameraPosition().

◆ euclideanNorm()

double vpColVector::euclideanNorm ( ) const

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

Compute and return the Euclidean norm also called Frobenius 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 1756 of file vpColVector.cpp.

References frobeniusNorm().

◆ extract()

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

inline

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 257 of file vpColVector.h.

References vpException::fatalError, and vpArray2D< double >::rowNum.

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

◆ frobeniusNorm()

double vpColVector::frobeniusNorm ( ) const

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

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

See also: infinityNorm()

Examples: testSvd.cpp.

Definition at line 1502 of file vpColVector.cpp.

References sumSquare().

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

◆ 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, 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 280 of file vpArray2D.h.

◆ getMaxValue()

double vpArray2D< double >::getMaxValue

inherited

Return the array max value.

Examples: servoMomentImage.cpp.

Definition at line 282 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue

inherited

Return the array min value.

Examples: servoMomentImage.cpp.

Definition at line 284 of file vpArray2D.h.

◆ 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, 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 290 of file vpArray2D.h.

◆ hadamard() [1/2]

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 : $m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j}$

Definition at line 554 of file vpArray2D.h.

◆ hadamard() [2/2]

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

Compute the Hadamard product (element wise vector multiplication).

Parameters

v	: Second vector;

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

Definition at line 1515 of file vpColVector.cpp.

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

◆ infinityNorm()

double vpColVector::infinityNorm ( ) const

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 1540 of file vpColVector.cpp.

References vpArray2D< double >::rowNum.

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

◆ init() [1/2]

vp_deprecated void vpColVector::init ( )

inline

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

Definition at line 422 of file vpColVector.h.

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

◆ init() [2/2]

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

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 246 of file vpColVector.cpp.

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

◆ insert() [1/5]

vpArray2D< double > vpArray2D< double >::insert	(	const vpArray2D< double > &	A,
		const vpArray2D< double > &	B,
		unsigned int	r,
		unsigned int	c
	)

inherited

Insert array B in array A at the given position.

Parameters

A	: Main array.
B	: Array to insert.
r	: Index of the row where to add the array.
c	: Index of the column where to add the array.

Returns: Array with B insert in A.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 984 of file vpArray2D.h.

◆ insert() [2/5]

void vpArray2D< double >::insert	(	const vpArray2D< double > &	A,
		unsigned int	r,
		unsigned int	c
	)

inlineinherited

Insert array A at the given position in the current array.

Warning: Throw vpException::dimensionError if the dimensions of the matrices do not allow the operation.

Parameters

A	: The array to insert.
r	: The index of the row to begin to insert data.
c	: The index of the column to begin to insert data.

Definition at line 417 of file vpArray2D.h.

◆ insert() [3/5]

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

Definition at line 1362 of file vpColVector.cpp.

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

◆ insert() [4/5]

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

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 1740 of file vpColVector.cpp.

References insert().

◆ insert() [5/5]

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

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 1353 of file vpColVector.cpp.

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

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

◆ invSort()

vpColVector vpColVector::invSort ( const vpColVector & v )

static

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 941 of file vpColVector.cpp.

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

◆ load()

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 582 of file vpArray2D.h.

◆ 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, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 696 of file vpArray2D.h.

◆ maplePrint()

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

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 1661 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

◆ matlabPrint()

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

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 1709 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

◆ mean()

double vpColVector::mean ( const vpColVector & v )

static

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

Examples: testColVector.cpp.

Definition at line 1137 of file vpColVector.cpp.

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

◆ median()

double vpColVector::median ( const vpColVector & v )

static

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

Examples: testColVector.cpp.

Definition at line 1157 of file vpColVector.cpp.

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

◆ normalize() [1/2]

vpColVector & vpColVector::normalize ( )

Normalize the column vector.

Considering the n-dim column vector ${\bf x} = (x_0, x_1, \ldots, n_{n-1})$ normalize each vector element $ i $ :

$x_i = \frac{x_i}{\sqrt{\sum_{i=0}^{n-1}x^2_i}}$

Returns: A reference to the normalized vector.

Examples: testColVector.cpp, testQuaternion2.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 900 of file vpColVector.cpp.

References sumSquare().

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

◆ normalize() [2/2]

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

Normalize a column vector.

Considering the n-dim column vector ${\bf x} = (x_0, x_1, \ldots, n_{n-1})$ normalize each vector element $ i $ :

$x_i = \frac{x_i}{\sqrt{\sum_{i=0}^{n-1}x^2_i}}$

Parameters

[in,out] x : As input, the vector to normalize, as output the normalized vector.

Returns: A reference to the normalized vector.

Definition at line 883 of file vpColVector.cpp.

References sumSquare().

◆ operator!=() [1/3]

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

inherited

Not equal to comparison operator of a 2D array.

Definition at line 442 of file vpArray2D.h.

◆ operator!=() [2/3]

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

Compare two column vectors.

Parameters

v	: Vector to compare with.

Returns: true when their respective size or their values differ, false when their size and values are the same.

Definition at line 796 of file vpColVector.cpp.

◆ operator!=() [3/3]

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

Compare a column vector to a floating point value.

Parameters

v	: Floating point value to compare with.

Returns: true when at least one value of the vector differ from the floating point value v. false when all the vector values are equal to v.

Definition at line 804 of file vpColVector.cpp.

◆ operator*() [1/3]

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

Operator that performs the dot product between two column vectors.

Exceptions

vpException::dimensionError If the vector dimension differ.

See also: dotProd()

Definition at line 140 of file vpColVector.cpp.

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

◆ operator*() [2/3]

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

Multiply a column vector by a row vector.

Parameters

v	: Row vector.

Returns: The resulting matrix.

Definition at line 164 of file vpColVector.cpp.

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

◆ operator*() [3/3]

vpColVector vpColVector::operator* ( double x ) const

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 384 of file vpColVector.cpp.

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

◆ operator*=()

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

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 414 of file vpColVector.cpp.

References vpArray2D< double >::rowNum.

◆ operator+() [1/2]

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

Operator that allows to add two column vectors.

Definition at line 61 of file vpColVector.cpp.

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

◆ operator+() [2/2]

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

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 column 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

vpTranslationVector
Class that consider the case of a translation vector.
Definition: vpTranslationVector.h:114

Definition at line 94 of file vpColVector.cpp.

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

◆ operator+=()

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

Operator that allows to add two column vectors.

Definition at line 109 of file vpColVector.cpp.

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

◆ operator,()

vpColVector & vpColVector::operator, ( double val )

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 669 of file vpColVector.cpp.

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

◆ operator-() [1/2]

vpColVector vpColVector::operator- ( ) const

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 350 of file vpColVector.cpp.

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

◆ operator-() [2/2]

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

operator subtraction of two vectors V = A-v

Definition at line 176 of file vpColVector.cpp.

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

◆ operator-=()

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

Operator that allows to subtract two column vectors.

Definition at line 121 of file vpColVector.cpp.

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

◆ operator/()

vpColVector vpColVector::operator/ ( double x ) const

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 464 of file vpColVector.cpp.

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

◆ operator/=()

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

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 438 of file vpColVector.cpp.

References vpArray2D< double >::rowNum.

◆ operator<<() [1/3]

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

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 586 of file vpColVector.cpp.

◆ operator<<() [2/3]

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

Assignment 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 616 of file vpColVector.cpp.

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

◆ operator<<() [3/3]

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

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 644 of file vpColVector.cpp.

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

◆ operator=() [1/10]

vpColVector & vpColVector::operator= ( const std::initializer_list< double > & list )

Set vector elements and size from a list of values.

Parameters

list	: List of double. Vector size matches the number of elements.

Returns: The modified vector.
#include <visp3/core/vpColVector.h>

int main()

{

vpColVector c;

c = { 0, -1, -2 };

std::cout << "c:\n" << c << std::endl;

}

It produces the following printings:
c:

0

-1

-2

See also: operator<<()

Definition at line 748 of file vpColVector.cpp.

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

◆ operator=() [2/10]

vpColVector & vpColVector::operator= ( const std::vector< double > & v )

Initialize a row vector from a standard vector of double.

Definition at line 497 of file vpColVector.cpp.

References resize().

◆ operator=() [3/10]

vpColVector & vpColVector::operator= ( const std::vector< float > & v )

Initialize a row vector from a standard vector of double.

Definition at line 507 of file vpColVector.cpp.

References resize().

◆ operator=() [4/10]

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

Copy operator. Allow operation such as A = v.

Definition at line 515 of file vpColVector.cpp.

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

◆ operator=() [5/10]

vpColVector & vpColVector::operator= ( const vpMatrix & M )

Transform a m-by-1 matrix into a column vector.

Warning: Handled with care; M should be a 1 column matrix.

Exceptions

vpException::dimensionError If the matrix has more than 1 column.

Definition at line 481 of file vpColVector.cpp.

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

◆ operator=() [6/10]

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

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

Definition at line 555 of file vpColVector.cpp.

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

◆ operator=() [7/10]

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

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

Definition at line 542 of file vpColVector.cpp.

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

◆ operator=() [8/10]

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

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

Definition at line 529 of file vpColVector.cpp.

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

◆ operator=() [9/10]

vpColVector & vpColVector::operator= ( double x )

Set each element of the column vector to x.

Definition at line 677 of file vpColVector.cpp.

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

◆ operator=() [10/10]

vpColVector & vpColVector::operator= ( vpColVector && other )

Overloaded move assignment operator taking rvalue.

Definition at line 703 of file vpColVector.cpp.

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

◆ operator==() [1/3]

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

inherited

Equal to comparison operator of a 2D array.

Definition at line 438 of file vpArray2D.h.

◆ operator==() [2/3]

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

Comparison operator.

Compare two column vectors.

Parameters

v	: Vector to compare with.

Returns: true when their respective size and their respective values are the same, false when their size or values differ.

Definition at line 762 of file vpColVector.cpp.

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

◆ operator==() [3/3]

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

Compare a column vector to a floating point value.

Parameters

v	: Floating point value to compare with.

Returns: true when all the values of the vector are equal to the floating point value v, false otherwise.

Definition at line 781 of file vpColVector.cpp.

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

◆ operator[]() [1/2]

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

inline

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

Definition at line 284 of file vpColVector.h.

References vpArray2D< double >::data.

◆ operator[]() [2/2]

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

inline

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

Definition at line 286 of file vpColVector.h.

References vpArray2D< double >::data.

◆ print()

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

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: testColVector.cpp, and testTwistMatrix.cpp.

Definition at line 1391 of file vpColVector.cpp.

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

◆ rad2deg()

vpColVector& vpColVector::rad2deg ( )

inline

Converts a column vector containing angles in radians into degrees and returns a reference to the vector.

Returns: A reference to the vector with values expressed in [deg].

See also: deg2rad()

Examples: testUniversalRobotsGetData.cpp.

Definition at line 334 of file vpColVector.h.

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

◆ reshape() [1/2]

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

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 1245 of file vpColVector.cpp.

References reshape().

◆ reshape() [2/2]

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

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 1307 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 reshape().

◆ resize() [1/3]

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

inline

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: ClassUsingPclViewer.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoViper850Point2DCamVelocityKalman.cpp, testColVector.cpp, testRealSense2_T265_images_odometry_async.cpp, and testThread2.cpp.

Definition at line 351 of file vpColVector.h.

References vpArray2D< Type >::resize().

Referenced by vpRealSense2::acquire(), vpMatrix::add2Matrices(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpCircle::changeFrame(), vpRobotAfma6::checkJointLimits(), vpLinProg::colReduction(), vpMbtFaceDepthNormal::computeDesiredFeaturesPCL(), vpMbtFaceDepthNormal::computeDesiredFeaturesSVD(), vpServo::computeError(), vpMbtFaceDepthNormal::computeInteractionMatrix(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), vpMbTracker::computeJTR(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpPose::computeResidual(), vpMbEdgeKltTracker::computeVVS(), vpMbDepthDenseTracker::computeVVSInit(), vpMbDepthNormalTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbGenericTracker::computeVVSInit(), vpMatrix::cond(), vpFeatureMoment::duplicate(), vp::eigen2visp(), vpMatrix::eigenValues(), vpFeatureLuminance::error(), vpMbtFaceDepthNormal::estimateFeatures(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), vpThetaUVector::extract(), vpRobotFranka::getCoriolis(), vpQbSoftHand::getCurrent(), vpSimulatorAfma6::getDisplacement(), vpSimulatorViper850::getDisplacement(), vpRobotAfma4::getDisplacement(), vpRobotAfma6::getDisplacement(), vpRobotViper650::getDisplacement(), vpRobotViper850::getDisplacement(), vpRobotFranka::getForceTorque(), vpRobotViper650::getForceTorque(), vpRobotViper850::getForceTorque(), vpRobotFranka::getGravity(), vpOccipitalStructure::getIMUAcceleration(), vpRealSense2::getIMUAcceleration(), vpRealSense2::getIMUData(), vpOccipitalStructure::getIMUData(), vpOccipitalStructure::getIMUVelocity(), vpRealSense2::getIMUVelocity(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematicsWrist(), vpRobotFlirPtu::getJointPosition(), vpRobotKinova::getJointPosition(), vpPlane::getNormal(), vpRealSense2::getOdometryData(), vpTemplateTrackerWarpHomography::getParam(), vpRobotFranka::getPosition(), vpRobotKinova::getPosition(), vpRobotUniversalRobots::getPosition(), vpRobotAfma4::getPosition(), vpRobotAfma6::getPosition(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotBiclops::getPosition(), vpRobotCamera::getPosition(), vpRobotPtu46::getPosition(), vpSimulatorAfma6::getPosition(), vpSimulatorCamera::getPosition(), vpSimulatorPioneer::getPosition(), vpSimulatorPioneerPan::getPosition(), vpSimulatorViper850::getPosition(), vpQbSoftHand::getPosition(), vpRobotFranka::getVelocity(), vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpRobotBiclops::getVelocity(), vpRobotPtu46::getVelocity(), vpRobotPioneer::getVelocity(), vpRobotAfma4::getVelocity(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpPoint::getWorldCoordinates(), hadamard(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpRobotBiclops::init(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpMeTracker::init(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), init(), vpImageSimulator::init(), vpTemplateTrackerTriangle::init(), vpFeatureLuminance::init(), vpKalmanFilter::init(), vpRobotAfma4::init(), vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpFeatureMoment::init(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbtDistanceLine::initInteractionMatrixError(), vpMatrix::kernel(), vpRobust::MEstimator(), vpMatrix::multMatrixVector(), vpMatrix::nullSpace(), operator,(), operator-(), operator<<(), operator=(), vpSubColVector::operator=(), vpPose::poseVirtualVSrobust(), vpPoint::projection(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), vpSphere::projection(), vpRobotAfma4::readPosFile(), vpRobotAfma6::readPosFile(), vpRobotFranka::readPosFile(), vpRobotUniversalRobots::readPosFile(), vpRobotViper650::readPosFile(), vpRobotViper850::readPosFile(), vpSimulatorAfma6::readPosFile(), vpSimulatorViper850::readPosFile(), vpRobotBiclops::readPositionFile(), vpRobotPtu46::readPositionFile(), vpLinProg::rowReduction(), vpLinProg::simplex(), vpLinProg::solveLP(), vpQuadProg::solveQPi(), stack(), vpMatrix::stackColumns(), vpMatrix::sub2Matrices(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpMbEdgeKltTracker::trackFirstLoop(), vpFeatureMoment::update(), vpGenericFeature::vpGenericFeature(), vpImageSimulator::vpImageSimulator(), vpMeEllipse::vpMeEllipse(), vpRobotWireFrameSimulator::vpRobotWireFrameSimulator(), vpRobust::vpRobust(), vpSickLDMRS::vpSickLDMRS(), vpTemplateTracker::vpTemplateTracker(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(), vpTemplateTrackerZNCC::vpTemplateTrackerZNCC(), and vpViper::vpViper().

◆ resize() [2/3]

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

inline

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 362 of file vpColVector.h.

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

◆ resize() [3/3]

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, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 305 of file vpArray2D.h.

◆ rows()

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

inline

Deprecated:: You should rather use extract().

Definition at line 426 of file vpColVector.h.

◆ save()

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 784 of file vpArray2D.h.

◆ 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-franka-acquire-calib-data.cpp, and tutorial-universal-robots-acquire-calib-data.cpp.

Definition at line 877 of file vpArray2D.h.

◆ setIdentity()

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

Deprecated:: You should rather use eye()

◆ size()

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

inlineinherited

Return the number of elements of the 2D array.

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

Definition at line 292 of file vpArray2D.h.

◆ skew()

vpMatrix vpColVector::skew ( const vpColVector & v )

static

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 1194 of file vpColVector.cpp.

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

Referenced by crossProd(), and vpFeatureThetaU::interaction().

◆ sort()

vpColVector vpColVector::sort ( const vpColVector & v )

static

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 993 of file vpColVector.cpp.

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

◆ stack() [1/4]

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

static

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 1079 of file vpColVector.cpp.

References stack().

◆ stack() [2/4]

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

static

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 1104 of file vpColVector.cpp.

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

◆ stack() [3/4]

void vpColVector::stack ( const vpColVector & v )

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 1059 of file vpColVector.cpp.

References stack().

◆ stack() [4/4]

void vpColVector::stack ( double d )

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 1034 of file vpColVector.cpp.

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

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

◆ stackMatrices() [1/3]

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

inlinestatic

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

Definition at line 442 of file vpColVector.h.

References vpMatrix::stack().

◆ stackMatrices() [2/3]

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

inlinestatic

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

Definition at line 447 of file vpColVector.h.

References vpMatrix::stack().

◆ stackMatrices() [3/3]

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

inline

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

Definition at line 437 of file vpColVector.h.

References vpMatrix::stack().

◆ stdev()

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

static

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

Examples: testColVector.cpp.

Definition at line 1171 of file vpColVector.cpp.

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

◆ sum()

double vpColVector::sum ( ) const

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 1482 of file vpColVector.cpp.

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

Referenced by mean().

◆ sumSquare()

double vpColVector::sumSquare ( ) const

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, servoAfma6AprilTagIBVS.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoMomentImage.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoUniversalRobotsIBVS.cpp, testAprilTag.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-ibvs-4pts-json.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 1490 of file vpColVector.cpp.

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

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

◆ t()

vpRowVector vpColVector::t ( ) const

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

Examples: movePtu46.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoBebop2.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPixhawkDroneIBVS.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocity.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, testUniversalRobotsCartPosition.cpp, testUniversalRobotsCartVelocity.cpp, testUniversalRobotsGetData.cpp, testUniversalRobotsJointPosition.cpp, testUniversalRobotsJointVelocity.cpp, testVirtuose.cpp, testVirtuoseAfma6.cpp, testVirtuosePeriodicFunction.cpp, tutorial-homography-from-points.cpp, tutorial-mb-generic-tracker-full.cpp, and tutorial-pioneer-robot.cpp.

Definition at line 809 of file vpColVector.cpp.

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

Referenced by vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), vpServo::computeProjectionOperators(), vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), operator+(), 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 transpose().

◆ toStdVector()

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

Converts the vpColVector to a std::vector.

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

Examples: testColVector.cpp.

Definition at line 690 of file vpColVector.cpp.

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

Referenced by vpRobotUniversalRobots::get_fMe(), vpRobotUniversalRobots::setPosition(), and vpRobotUniversalRobots::setVelocity().

◆ transpose() [1/2]

vpRowVector vpColVector::transpose ( ) const

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

See also: t()

Definition at line 820 of file vpColVector.cpp.

References t().

◆ transpose() [2/2]

void vpColVector::transpose ( vpRowVector & v ) const

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

See also: t()

Definition at line 826 of file vpColVector.cpp.

References t().

Friends And Related Function Documentation

◆ from_json

void from_json	(	const nlohmann::json &	j,
		vpColVector &	cam
	)

friend

Definition at line 470 of file vpColVector.h.

◆ insert()

void vpArray2D< double >::insert	(	const vpArray2D< double > &	A,
		const vpArray2D< double > &	B,
		vpArray2D< double > &	C,
		unsigned int	r,
		unsigned int	c
	)

Parameters

A	: Main array.
B	: Array to insert.
C	: Result array.
r	: Index of the row where to insert array B.
c	: Index of the column where to insert array B.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 999 of file vpArray2D.h.

◆ operator*()

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

Definition at line 832 of file vpColVector.cpp.

◆ operator==() [1/2]

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

◆ operator==() [2/2]

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

◆ to_json

void to_json	(	nlohmann::json &	j,
		const vpColVector &	cam
	)

friend

Definition at line 464 of file vpColVector.h.

◆ 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`
	)

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);

vpArray2D< double >::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)

Definition: vpGEMM.h:388

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::incorrectMatrixSizeError if 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 388 of file vpGEMM.h.

◆ vpGEMMmethod

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 52 of file vpGEMM.h.

◆ vpMatrix

friend class vpMatrix

friend

Definition at line 168 of file vpColVector.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 136 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data

inherited

Address of the first element of the data array.

Examples: testDisplacement.cpp, testMatrix.cpp, testTranslationVector.cpp, testUniversalRobotsGetData.cpp, tutorial-bridge-opencv-matrix.cpp, and tutorial-matlab.cpp.

Definition at line 144 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

Current array size (rowNum * colNum)

Definition at line 140 of file vpArray2D.h.

◆ rowNum

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 134 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 138 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Friends

Related Functions

Deprecated functions

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpColVector() [1/14]

◆ vpColVector() [2/14]

◆ vpColVector() [3/14]

◆ vpColVector() [4/14]

◆ vpColVector() [5/14]

◆ vpColVector() [6/14]

◆ vpColVector() [7/14]

◆ vpColVector() [8/14]

◆ vpColVector() [9/14]

◆ vpColVector() [10/14]

◆ vpColVector() [11/14]

◆ vpColVector() [12/14]

◆ vpColVector() [13/14]

◆ vpColVector() [14/14]

◆ ~vpColVector()

Member Function Documentation

◆ clear()

◆ conv2() [1/2]

◆ conv2() [2/2]

◆ cppPrint()

◆ cross()

◆ crossProd()

◆ csvPrint()

◆ deg2rad()

◆ dotProd()

◆ euclideanNorm()

◆ extract()

◆ frobeniusNorm()

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ hadamard() [1/2]

◆ hadamard() [2/2]

◆ infinityNorm()

◆ init() [1/2]

◆ init() [2/2]

◆ insert() [1/5]

◆ insert() [2/5]

◆ insert() [3/5]

◆ insert() [4/5]

◆ insert() [5/5]

◆ invSort()

◆ load()

◆ loadYAML()

◆ maplePrint()

◆ matlabPrint()

◆ mean()

◆ median()

◆ normalize() [1/2]

◆ normalize() [2/2]

◆ operator!=() [1/3]

◆ operator!=() [2/3]

◆ operator!=() [3/3]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator*=()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator+=()

◆ operator,()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator<<() [1/3]

◆ operator<<() [2/3]

◆ operator<<() [3/3]