#include <visp3/core/vpTranslationVector.h>

Inheritance diagram for vpTranslationVector:

Public Member Functions
	vpTranslationVector ()

	vpTranslationVector (double tx, double ty, double tz)

	vpTranslationVector (const vpTranslationVector &tv)

	vpTranslationVector (const vpHomogeneousMatrix &M)

	vpTranslationVector (const vpPoseVector &p)

	vpTranslationVector (const vpColVector &v)

vpTranslationVector	buildFrom (double tx, double ty, double tz)

vpTranslationVector	buildFrom (const vpHomogeneousMatrix &M)

vpTranslationVector	buildFrom (const vpPoseVector &p)

vpTranslationVector	buildFrom (const vpColVector &v)

double	frobeniusNorm () const

vpTranslationVector	operator+ (const vpTranslationVector &tv) const

vpTranslationVector	operator+ (const vpColVector &v) const

vpTranslationVector	operator- (const vpTranslationVector &tv) const

vpTranslationVector	operator- () const

vpMatrix	operator* (const vpRowVector &v) const

vpTranslationVector	operator* (double x) const

vpTranslationVector &	operator*= (double x)

vpTranslationVector	operator/ (double x) const

vpTranslationVector &	operator/= (double x)

vpTranslationVector &	operator= (const vpColVector &tv)

vpTranslationVector &	operator= (const vpTranslationVector &tv)

vpTranslationVector &	operator= (double x)

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

double &	operator[] (unsigned int n)

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

vpTranslationVector &	operator<< (double val)

vpTranslationVector &	operator, (double val)

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

void	set (double tx, double ty, double tz)

vpMatrix	skew () const

double	sumSquare () const

vpRowVector	t () 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	reshape (unsigned int nrows, unsigned int ncols)

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 vpTranslationVector	cross (const vpTranslationVector &a, const vpTranslationVector &b)

static vpTranslationVector	mean (const std::vector< vpHomogeneousMatrix > &vec_M)

static vpTranslationVector	mean (const std::vector< vpTranslationVector > &vec_t)

static vpMatrix	skew (const vpTranslationVector &tv)

static void	skew (const vpTranslationVector &tv, vpMatrix &M)

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

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

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)

Deprecated functions
unsigned int	m_index

vp_deprecated double	euclideanNorm () const

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

Class that consider the case of a translation vector.

Let us denote $^{a}{\bf t}_{b} = [t_x,t_y,t_z]^\top$ the translation from frame $ a $ to frame $ b $ . The representation of a translation is a column vector of dimension 3.

Translations along x,y,z axis are expressed in meters.

From the implementation point of view, it is nothing more than an array of three doubles with values in [meters].

You can set values [meters] accessing each element:

vpTranslationVector t;
t[0] = 0;
t[1] = 0.1;
t[2] = 0.5;

You can also initialize the vector using operator<<(double):

t << 0, 0.1, 05;

Or you can also initialize the vector from a list of doubles if ViSP is build with c++11 enabled:

#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  t = {0, 0.1, 0.5};
#endif

To get the values [meters] use:

double tx = t[0];
double ty = t[1];
double tz = t[2];

The code below shows how to use a translation vector to build an homogeneous matrix.

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpTranslationVector.h>
 
int main()
{
  vpTranslationVector t; // Translation vector
 
  // Initialization of the translation vector
  t[0] =  0.2; // tx = 0.2 meters
  t[1] = -0.1; // ty = -0.1 meters
  t[2] =  1.0; // tz = 1 meters
 
  // Construction of a rotation matrix
  vpRotationMatrix R; // Set to identity by default
 
  // Construction of an homogeneous matrix
  vpHomogeneousMatrix M(t, R);
}

Examples: ClassUsingPclViewer.h, calibrate-hand-eye.cpp, exponentialMap.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6MegaposePBVS.cpp, servoBebop2.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPixhawkDroneIBVS.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimuSphere.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testAprilTag.cpp, testDisplacement.cpp, testDisplays.cpp, testImageDraw.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testRealSense2_T265_images_odometry_async.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTranslationVector.cpp, testTwistMatrix.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseHapticBox.cpp, tutorial-draw-frame.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 113 of file vpTranslationVector.h.

Constructor & Destructor Documentation

◆ vpTranslationVector() [1/6]

vpTranslationVector::vpTranslationVector ( )

inline

Default constructor. The translation vector is initialized to zero.

Definition at line 120 of file vpTranslationVector.h.

◆ vpTranslationVector() [2/6]

vpTranslationVector::vpTranslationVector	(	double	tx,
		double	ty,
		double	tz
	)

Construct a translation vector $\bf t$ from 3 doubles.

Parameters

tx,ty,tz : Translation respectively along x, y and z axis. Values are in meters.

Definition at line 53 of file vpTranslationVector.cpp.

◆ vpTranslationVector() [3/6]

vpTranslationVector::vpTranslationVector ( const vpTranslationVector & tv )

Copy constructor.

Parameters

tv	: Translation vector to copy.

vpTranslationVector t1(1,2,3); // Create and initialize a translation vector

vpTranslationVector t2(t1); // t2 is now a copy of t1

Definition at line 96 of file vpTranslationVector.cpp.

◆ vpTranslationVector() [4/6]

vpTranslationVector::vpTranslationVector ( const vpHomogeneousMatrix & M )

explicit

Construct a translation vector $\bf t$ from the translation contained in an homogeneous matrix.

Parameters

M	: Homogeneous matrix where translations are in meters.

Definition at line 67 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

◆ vpTranslationVector() [5/6]

vpTranslationVector::vpTranslationVector ( const vpPoseVector & p )

explicit

Construct a translation vector $\bf t$ from the translation contained in a pose vector.

Parameters

p	: Pose vector where translations are in meters.

Definition at line 79 of file vpTranslationVector.cpp.

◆ vpTranslationVector() [6/6]

vpTranslationVector::vpTranslationVector ( const vpColVector & v )

explicit

Construct a translation vector $\bf t$ from a 3-dimension column vector.

Parameters

v	: 3-dimension column vector.

vpColVector v(3);
v[0] = 1; v[1] = 2; v[2] = 3; // Create and initialize a column vector
 
vpTranslationVector t(v);     // t contains [1, 2, 3,]

Definition at line 112 of file vpTranslationVector.cpp.

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

Member Function Documentation

◆ buildFrom() [1/4]

vpTranslationVector vpTranslationVector::buildFrom ( const vpColVector & v )

Build a 3 dimension translation vector $\bf t$ from a 3-dimension column vector.

Parameters

v	: 3-dimension column vector.

Returns: The build translation vector.

Definition at line 165 of file vpTranslationVector.cpp.

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

◆ buildFrom() [2/4]

vpTranslationVector vpTranslationVector::buildFrom ( const vpHomogeneousMatrix & M )

Build a 3 dimension translation vector $\bf t$ 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 translation vector.

Definition at line 133 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

◆ buildFrom() [3/4]

vpTranslationVector vpTranslationVector::buildFrom ( const vpPoseVector & p )

Build a 3 dimension translation vector $\bf t$ from the translation contained in a pose vector.

Parameters

p	: Pose vector where translations are in meters.

Returns: The build translation vector.

Definition at line 148 of file vpTranslationVector.cpp.

◆ buildFrom() [4/4]

vpTranslationVector vpTranslationVector::buildFrom	(	double	tx,
		double	ty,
		double	tz
	)

Build a 3 dimension translation vector $\bf t$ from 3 doubles.

Parameters

tx,ty,tz : Translation respectively along x, y and z axis in meter.

Returns: The build translation vector.

See also: set()

Definition at line 186 of file vpTranslationVector.cpp.

References set().

◆ conv2() [1/2]

vpArray2D< double > vpArray2D< double >::conv2	(	const vpArray2D< Type > &	M,
		const vpArray2D< Type > &	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< Type > &	M,
		const vpArray2D< Type > &	kernel,
		vpArray2D< Type > &	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.

◆ cross()

vpTranslationVector vpTranslationVector::cross	(	const vpTranslationVector &	a,
		const vpTranslationVector &	b
	)

static

Return the cross product of two translation vectors $a \times b$ .

Parameters

a,b	: Translation vectors in input.

Returns: The cross product of two translation vectors $a \times b$ .

Examples: testTranslationVector.cpp.

Definition at line 696 of file vpTranslationVector.cpp.

References skew().

◆ euclideanNorm()

double vpTranslationVector::euclideanNorm ( ) const

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

Compute and return the Euclidean norm also called Frobenius nom of the translation vector $||t|| = \sqrt{ \sum{t_{i}^2}}$ .

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

See also: frobeniusNorm()

Definition at line 724 of file vpTranslationVector.cpp.

References frobeniusNorm().

◆ frobeniusNorm()

double vpTranslationVector::frobeniusNorm ( ) const

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

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

Definition at line 733 of file vpTranslationVector.cpp.

References sumSquare().

Referenced by euclideanNorm().

◆ 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()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< Type > & 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.

◆ insert() [1/2]

vpArray2D< double > vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	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() [2/2]

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	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.

◆ load()

static bool vpArray2D< double >::load	(	const std::string &	filename,
		vpArray2D< Type > &	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< Type > &	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.

◆ mean() [1/2]

vpTranslationVector vpTranslationVector::mean ( const std::vector< vpHomogeneousMatrix > & vec_M )

static

Compute the Euclidean mean of the translation vector extracted from a vector of homogeneous matrices.

Parameters

[in] vec_M : Set of homogeneous matrices.

Returns: The Euclidean mean of the translation vectors.

See also: vpRotationMatrix::mean()

Definition at line 766 of file vpTranslationVector.cpp.

References t().

◆ mean() [2/2]

vpTranslationVector vpTranslationVector::mean ( const std::vector< vpTranslationVector > & vec_t )

static

Compute the Euclidean mean of a vector of translation vector.

Parameters

[in] vec_t : Set of translation vectors.

Returns: The Euclidean mean of the translation vectors.

See also: vpRotationMatrix::mean()

Definition at line 786 of file vpTranslationVector.cpp.

References t().

◆ operator!=()

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

inherited

Not equal to comparison operator of a 2D array.

Definition at line 442 of file vpArray2D.h.

◆ operator*() [1/2]

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

Multiply a 3-by-1 dimension translation vector by a 1-by-n row vector.

Parameters

v	: Row vector.

Returns: The resulting matrix that is 3-by-n dimension.

Definition at line 354 of file vpTranslationVector.cpp.

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

◆ operator*() [2/2]

vpTranslationVector vpTranslationVector::operator* ( double x ) const

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

Parameters

x	: The scalar.

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

vpTranslationVector t1(1,2,3);
t2 = t1 * 3;
// t1 is unchanged
// t2 is now equal to : [3, 6, 9]

Definition at line 335 of file vpTranslationVector.cpp.

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

◆ operator*=()

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

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

Parameters

x	: The scalar.

Returns: The translation vector multiplied by the scalar.

Definition at line 373 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

◆ operator+() [1/2]

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

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

Parameters

v	: 3-dimension column vector to add.

Returns: The sum of the current translation vector (*this) and the column vector to add.
vpTranslationVector t1(1,2,3);

vpColVector v(3);

v[0] = 4;

v[1] = 5;

v[2] = 6;

vpTranslationVector t2;

t2 = t1 + v;

// t1 and v leave unchanged

// t2 is now equal to : 5, 7, 9

Definition at line 253 of file vpTranslationVector.cpp.

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

◆ operator+() [2/2]

vpTranslationVector vpTranslationVector::operator+ ( const vpTranslationVector & tv ) const

Operator that allows to add two translation vectors.

Parameters

tv	: Translation vector to add.

Returns: The sum of the current translation vector (*this) and the one to add.
vpTranslationVector t1(1,2,3);

vpTranslationVector t2(4,5,6);

vpTranslationVector t3;

t3 = t2 + t1;

// t1 and t2 leave unchanged

// t3 is now equal to : 5, 7, 9

Definition at line 223 of file vpTranslationVector.cpp.

◆ operator,()

vpTranslationVector & vpTranslationVector::operator, ( double val )

Set vector second and third element values.

Parameters

val	: Value of the vector element [meter].

Returns: An updated vector.

The following example shows how to initialize a translations vector from a list of 3 values [meter].

#include <visp3/core/vpTranslationVector.h>
 
int main()
{
  vpTranslationVector t;
  t << 0, 0.1, 0.5;
  std::cout << "t: " << t.t() << std::endl;
}

It produces the following printings:

t: 0 0.1 0.5

See also: operator<<()

Definition at line 593 of file vpTranslationVector.cpp.

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

◆ operator-() [1/2]

vpTranslationVector vpTranslationVector::operator- ( void ) const

Operator that allows to negate a translation vector.

Returns: The negate translation. The current translation vector (*this) is unchanged.

vpTranslationVector t1(1,2,3);
vpTranslationVector t2;
t2 = -t1;
// t1 is unchanged
// t2 is now equal to : [-1, -2, -3]

Definition at line 309 of file vpTranslationVector.cpp.

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

◆ operator-() [2/2]

vpTranslationVector vpTranslationVector::operator- ( const vpTranslationVector & tv ) const

Operator that allows to subtract two translation vectors.

Parameters

tv	: Translation vector to subtract.

Returns: The subtraction of the current translation vector (*this) and the one to subtract.
vpTranslationVector t1(1,2,3);

vpTranslationVector t2(4,5,6);

vpTranslationVector t3;

t3 = t2 - t1;

// t1 and t2 leave unchanged

// t3 is now equal to : 3, 3, 3

Definition at line 285 of file vpTranslationVector.cpp.

◆ operator/()

vpTranslationVector vpTranslationVector::operator/ ( double x ) const

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

Parameters

x	: The scalar.

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

vpTranslationVector t1(8,4,2);
t2 = t1 / 2;
// t1 is unchanged
// t2 is now equal to : [4, 2, 1]

Definition at line 410 of file vpTranslationVector.cpp.

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

◆ operator/=()

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

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

Parameters

x	: The scalar.

Returns: The column vector divided by the scalar.

Definition at line 387 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

◆ operator<<()

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

Set vector first element value.

Parameters

val	: Value of the vector first element [meter].

Returns: An updated vector.

The following example shows how to initialize a translation vector from a list of 3 values [meter].

#include <visp3/core/vpTranslationVector.h>
 
int main()
{
  vpTranslationVector t;
  t << 0, 0.1, 0.5;
  std::cout << "t: " << t.t() << std::endl;
}

It produces the following printings:

t: 0 0.1 0.5

See also: operator,()

Definition at line 563 of file vpTranslationVector.cpp.

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

◆ operator=() [1/4]

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

Set vector from a list of 3 double values in meters.

#include <visp3/core/vpTranslationVector.cpp>
 
int main()
{
  vpTranslationVector t = {0, 0.1, 0.5};
  std::cout << "t: " << t.t() << std::endl;
}

It produces the following printings:

t: 0 0.1 0.5

See also: operator<<()

Definition at line 527 of file vpTranslationVector.cpp.

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

◆ operator=() [2/4]

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

Copy operator.

Parameters

tv	: Translation vector to copy

Returns: A copy of tv.

vpColVector t1(3);
t1[0] = 1;
t1[1] = 2;
t1[2] = 3;
vpTranslationVector t2;
t2 = t1;
// t1 is unchanged
// t2 is now equal to t1 : 1, 2, 3

Definition at line 436 of file vpTranslationVector.cpp.

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

◆ operator=() [3/4]

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

Copy operator.

Parameters

tv	: Translation vector to copy

Returns: A copy of tv.

vpTranslationVector t1(1,2,3);
vpTranslationVector t2;
t2 = t1;
// t1 is unchanged
// t2 is now equal to t1 : 1, 2, 3

Definition at line 471 of file vpTranslationVector.cpp.

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

◆ operator=() [4/4]

vpTranslationVector & vpTranslationVector::operator= ( double x )

Initialize each element of a translation vector to the same value x.

Parameters

x	: Value to set for each element of the translation vector.

vpTranslationVector t;
t = 3;
// Here t is set to 3,3,3

Definition at line 499 of file vpTranslationVector.cpp.

References vpArray2D< double >::data.

◆ operator==()

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

inherited

Equal to comparison operator of a 2D array.

Definition at line 438 of file vpArray2D.h.

◆ operator[]() [1/2]

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

inline

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

Definition at line 158 of file vpTranslationVector.h.

◆ operator[]() [2/2]

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

inline

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

Definition at line 160 of file vpTranslationVector.h.

◆ reshape()

void vpArray2D< double >::reshape	(	unsigned int	nrows,
		unsigned int	ncols
	)

inlineinherited

Examples: testMatrixInitialization.cpp.

Definition at line 383 of file vpArray2D.h.

◆ resize() [1/2]

void vpTranslationVector::resize	(	unsigned int	nrows,
		unsigned int	ncols,
		bool	flagNullify = `true`
	)

inline

This function is not applicable to a translation vector that is always a 3-by-1 column vector.

Exceptions

vpException::fatalError When this function is called.

Definition at line 170 of file vpTranslationVector.h.

References vpException::fatalError.

Referenced by operator=().

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

Definition at line 305 of file vpArray2D.h.

◆ save()

static bool vpArray2D< double >::save	(	const std::string &	filename,
		const vpArray2D< Type > &	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< Type > &	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.

◆ set()

void vpTranslationVector::set	(	double	tx,
		double	ty,
		double	tz
	)

Initialize a translation vector from 3 doubles.

Parameters

tx,ty,tz : Translation respectively along x, y and z axis in meter.

Examples: testTranslationVector.cpp.

Definition at line 198 of file vpTranslationVector.cpp.

Referenced by buildFrom(), and vpPioneerPan::set_mMp().

◆ 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() [1/3]

vpMatrix vpTranslationVector::skew ( ) const

Compute the skew symmetric matrix of the translation vector (matrice de pre-produit vectoriel), where

$M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right)$

and where are the coordinates of the translation vector.

Returns: Skew symmetric matrix of the translation vector.

Examples: testTranslationVector.cpp.

Definition at line 680 of file vpTranslationVector.cpp.

Referenced by cross(), vpViper::get_eJe(), and skew().

◆ skew() [2/3]

vpMatrix vpTranslationVector::skew ( const vpTranslationVector & tv )

static

Compute the skew symmetric matrix of translation vector tv.

$\mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z \end{array}\right), \quad \mbox{then} \qquad M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right)$

Parameters

tv	: Translation vector in input.

Returns: Skew symmetric matrix of translation vector .

Definition at line 655 of file vpTranslationVector.cpp.

References skew().

◆ skew() [3/3]

void vpTranslationVector::skew	(	const vpTranslationVector &	tv,
		vpMatrix &	M
	)

static

Compute the skew symmetric matrix of translation vector tv.

$\mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z \end{array}\right), \quad \mbox{then} \qquad M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right)$

Parameters

tv	: Translation vector in input used to compute the skew symmetric matrix M.
M	: Skew symmetric matrix of translation vector .

Definition at line 623 of file vpTranslationVector.cpp.

References vpArray2D< Type >::resize().

◆ sumSquare()

double vpTranslationVector::sumSquare ( ) const

Return the sum square of all the elements $t_{i}$ of the translation vector t(m).

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

Examples: servoAfma6AprilTagPBVS.cpp, servoAfma6MegaposePBVS.cpp, servoFrankaPBVS.cpp, and servoUniversalRobotsPBVS.cpp.

Definition at line 746 of file vpTranslationVector.cpp.

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

Referenced by frobeniusNorm().

◆ t()

vpRowVector vpTranslationVector::t ( ) const

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

Examples: servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, testDisplacement.cpp, testMatrixInitialization.cpp, testPixhawkDronePositionAbsoluteControl.cpp, testPixhawkDronePositionRelativeControl.cpp, testPixhawkDroneTakeoff.cpp, testRobotViper850.cpp, testViper650.cpp, testViper850.cpp, tutorial-homography-from-points.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 705 of file vpTranslationVector.cpp.

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

Referenced by mean().

Friends And Related Function Documentation

◆ insert()

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		vpArray2D< Type > &	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!=()

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

◆ operator==() [1/2]

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

◆ operator==() [2/2]

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

◆ 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.

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.

◆ m_index

unsigned int vpTranslationVector::m_index

protected

Definition at line 203 of file vpTranslationVector.h.

Referenced by operator,(), and operator<<().

◆ 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

Related Functions

Deprecated functions

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpTranslationVector() [1/6]

◆ vpTranslationVector() [2/6]

◆ vpTranslationVector() [3/6]

◆ vpTranslationVector() [4/6]

◆ vpTranslationVector() [5/6]

◆ vpTranslationVector() [6/6]

Member Function Documentation

◆ buildFrom() [1/4]

◆ buildFrom() [2/4]

◆ buildFrom() [3/4]

◆ buildFrom() [4/4]

◆ conv2() [1/2]

◆ conv2() [2/2]

◆ cross()

◆ euclideanNorm()

◆ frobeniusNorm()

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ hadamard()

◆ insert() [1/2]

◆ insert() [2/2]

◆ load()

◆ loadYAML()

◆ mean() [1/2]

◆ mean() [2/2]

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator,()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator/()

◆ operator/=()

◆ operator<<()

◆ operator=() [1/4]

◆ operator=() [2/4]

◆ operator=() [3/4]

◆ operator=() [4/4]

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reshape()

◆ resize() [1/2]

◆ resize() [2/2]

◆ save()

◆ saveYAML()

◆ set()

◆ size()

◆ skew() [1/3]

◆ skew() [2/3]

◆ skew() [3/3]

◆ sumSquare()

◆ t()

Friends And Related Function Documentation

◆ insert()

◆ operator!=()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ vpGEMM()

◆ vpGEMMmethod

Member Data Documentation

◆ colNum

◆ data

◆ dsize

◆ m_index

◆ rowNum