Visual Servoing Platform  version 3.6.1 under development (2024-04-18)
vpColVector Class Reference

#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)
 
void clear ()
 
std::ostream & cppPrint (std::ostream &os, const std::string &matrixName="A", bool octet=false) const
 
std::ostream & csvPrint (std::ostream &os) const
 
vpColVectordeg2rad ()
 
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)
 
std::ostream & maplePrint (std::ostream &os) const
 
std::ostream & matlabPrint (std::ostream &os) const
 
vpColVectornormalize ()
 
vpColVectornormalize (vpColVector &x) const
 
double & operator[] (unsigned int n)
 
const double & operator[] (unsigned int n) const
 
vpColVectoroperator= (const vpColVector &v)
 
vpColVectoroperator= (const vpPoseVector &p)
 
vpColVectoroperator= (const vpRotationVector &rv)
 
vpColVectoroperator= (const vpTranslationVector &tv)
 
vpColVectoroperator= (const vpMatrix &M)
 
vpColVectoroperator= (const std::vector< double > &v)
 
vpColVectoroperator= (const std::vector< float > &v)
 
vpColVectoroperator= (double x)
 
vpColVectoroperator= (vpColVector &&v)
 
vpColVectoroperator= (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 &v) const
 
vpMatrix operator* (const vpRowVector &v) const
 
vpColVector operator* (double x) const
 
vpColVectoroperator*= (double x)
 
vpColVector operator/ (double x) const
 
vpColVectoroperator/= (double x)
 
vpColVector operator+ (const vpColVector &v) const
 
vpTranslationVector operator+ (const vpTranslationVector &t) const
 
vpColVectoroperator+= (vpColVector v)
 
vpColVector operator- (const vpColVector &v) const
 
vpColVectoroperator-= (vpColVector v)
 
vpColVector operator- () const
 
vpColVectoroperator<< (const vpColVector &v)
 
vpColVectoroperator<< (double *x)
 
vpColVectoroperator<< (double val)
 
vpColVectoroperator, (double val)
 
int print (std::ostream &s, unsigned int length, char const *intro=0) const
 
vpColVectorrad2deg ()
 
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 &v)
 
void from_json (const nlohmann::json &j, vpColVector &v)
 

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 void insert (const vpColVector &v, unsigned int i)
 
vp_deprecated vpColVector rows (unsigned int first_row, unsigned int last_row) const
 
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=nullptr)
 
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=nullptr)
 
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()
{
vpColVector v({-1, -2.1, -3});
std::cout << "v:\n" << v << std::endl;
}

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

int main()
{
v = {-1, -2.1, -3};
}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163

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);
v = j.get<vpColVector>();
file.close();
std::cout << "Read homogeneous matrix from " << filename << ":\n" << v.t() << std::endl;
}
#endif
}
vpRowVector t() const

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, servoPololuPtuPoint2DJointVelocity.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, testQuaternion.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, testRotation.cpp, testSvd.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-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, tutorial-hsv-segmentation.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 162 of file vpColVector.h.

Constructor & Destructor Documentation

◆ vpColVector() [1/13]

vpColVector::vpColVector ( )
inline

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

Definition at line 170 of file vpColVector.h.

◆ vpColVector() [2/13]

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 177 of file vpColVector.h.

◆ vpColVector() [3/13]

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

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

Definition at line 182 of file vpColVector.h.

◆ vpColVector() [4/13]

vpColVector::vpColVector ( const vpColVector v)
inline

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

Definition at line 187 of file vpColVector.h.

◆ vpColVector() [5/13]

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 construct.
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 constructed column vector.

See also
init()

Definition at line 159 of file vpColVector.cpp.

References init().

◆ vpColVector() [6/13]

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 182 of file vpColVector.cpp.

References vpArray2D< Type >::size().

◆ vpColVector() [7/13]

vpColVector::vpColVector ( const vpPoseVector p)

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

Definition at line 190 of file vpColVector.cpp.

References vpArray2D< Type >::size().

◆ vpColVector() [8/13]

vpColVector::vpColVector ( const vpTranslationVector t)

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

Definition at line 198 of file vpColVector.cpp.

References vpArray2D< Type >::size().

◆ vpColVector() [9/13]

vpColVector::vpColVector ( const vpMatrix M)

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

Exceptions
vpException::dimensionErrorIf the matrix is not a m-by-1 matrix.

Definition at line 214 of file vpColVector.cpp.

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

◆ vpColVector() [10/13]

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

Constructor that takes column j of matrix M.

Definition at line 206 of file vpColVector.cpp.

References vpArray2D< Type >::getCols().

◆ vpColVector() [11/13]

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

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

Definition at line 227 of file vpColVector.cpp.

References vpArray2D< Type >::size().

◆ vpColVector() [12/13]

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

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

Definition at line 235 of file vpColVector.cpp.

References vpArray2D< Type >::size().

◆ vpColVector() [13/13]

vpColVector::vpColVector ( vpColVector &&  v)

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 262 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 1016 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 1030 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()
{
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:

v[0] = 0;
v[1] = 1;
v[2] = 2;
See also
print(), matlabPrint(), maplePrint()

Definition at line 939 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::dimensionErrorIf the vectors dimension is not equal to 3.
See also
crossProd(), dotProd(), operator*(const vpColVector &)

Definition at line 1172 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::dimensionErrorIf the vectors dimension is not equal to 3.
See also
dotProd()

Definition at line 740 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);
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 960 of file vpColVector.cpp.

References vpArray2D< double >::getRows().

◆ deg2rad()

vpColVector& vpColVector::deg2rad ( )
inline

◆ 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::dimensionErrorIf the vector dimension differ.
See also
cross(), crossProd()

Definition at line 527 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 1013 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::fatalErrorIf the vector to extract is not contained in the original one.
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
vpColVector extract(unsigned int r, unsigned int colsize) const
Definition: vpColVector.h:367
void stack(double d)
Examples
testColVector.cpp, testForceTorqueAti.cpp, testForceTorqueAtiNetFTSensor.cpp, testForceTorqueIitSensor.cpp, and testRotation.cpp.

Definition at line 367 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}} $ of all the elements $v_{i}$ of the column vector $ \bf v $ that is of dimension $ m $.

Returns
The Frobenius norm if the vector is initialized, 0 otherwise.
See also
infinityNorm()
Examples
testSvd.cpp.

Definition at line 901 of file vpColVector.cpp.

References sumSquare().

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

◆ getCols()

◆ getMaxValue()

double vpArray2D< double >::getMaxValue
inherited

Return the array max value.

Examples
servoMomentImage.cpp.

Definition at line 316 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue
inherited

Return the array min value.

Examples
servoMomentImage.cpp.

Definition at line 318 of file vpArray2D.h.

◆ getRows()

◆ 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} $
Examples
testArray2D.cpp.

Definition at line 612 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} $
Examples
testArray2D.cpp.

Definition at line 908 of file vpColVector.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::data, vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< double >::dsize, 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 927 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 1355 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 construct.
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 constructed column vector.

The following code shows how to use this function:

#include <visp3/core/vpColVector.h>
int main()
{
int val = 0;
for(size_t i=0; i<v.getRows(); ++i) {
v[i] = val++;
}
std::cout << "v: " << v.t() << std::endl;
w.init(v, 0, 2);
std::cout << "w: " << w.t() << std::endl;
}
void init(const vpColVector &v, unsigned int r, unsigned int nrows)

It produces the following output:

v: 0 1 2 3
w: 1 2
Examples
testColVector.cpp.

Definition at line 164 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 1044 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 471 of file vpArray2D.h.

◆ insert() [3/5]

void vpColVector::insert ( const vpColVector v,
unsigned int  i 
)
Deprecated:
Provided only for compat with previous releases. Use rather 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()
{
for (unsigned int i=0; i < v.size(); ++i)
v[i] = i;
std::cout << "v: " << v.t() << std::endl;
for (unsigned int i=0; i < w.size(); ++i)
w[i] = i+10;
std::cout << "w: " << w.t() << std::endl;
v.insert(w, 1);
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

Definition at line 1002 of file vpColVector.cpp.

References insert().

◆ 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 1007 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()
{
for (unsigned int i=0; i < v.size(); ++i)
v[i] = i;
std::cout << "v: " << v.t() << std::endl;
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 776 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;
std::cout << "s: " << s.t() << std::endl;
}
static vpColVector invSort(const vpColVector &v)

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 575 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 = nullptr 
)
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 640 of file vpArray2D.h.

◆ loadYAML()

static bool vpArray2D< double >::loadYAML ( const std::string &  filename,
vpArray2D< double > &  A,
char *  header = nullptr 
)
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, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, and tutorial-hsv-segmentation.cpp.

Definition at line 754 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()
{
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.

See also
print() matlabPrint(), cppPrint()

Definition at line 971 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()
{
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
>>
See also
print(), cppPrint(), maplePrint()

Definition at line 984 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 672 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 684 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, testQuaternion.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 563 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 556 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 496 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 505 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 507 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::dimensionErrorIf the vector dimension differ.
See also
dotProd()

Definition at line 115 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 131 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.
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 276 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.
v[0] = 1;
v[1] = 2;
v[2] = 3;
v *= 3;
// v is now equal to : [3, 6, 9]

Definition at line 290 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 60 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.
v[0] = 4;
v[1] = 5;
v[2] = 6;
t2 = v + t1;
// t1 and v leave unchanged
// t2 is now equal to : 5, 7, 9
Class that consider the case of a translation vector.

Definition at line 74 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 89 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 420 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 260 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 this = this - v

Definition at line 143 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 102 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.
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 306 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.
v[0] = 8;
v[1] = 4;
v[2] = 2;
v /= 2;
// v is now equal to : [4, 2, 1]

Definition at line 298 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 397 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;
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 403 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 413 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()
{
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 471 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 333 of file vpColVector.cpp.

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

◆ operator=() [3/10]

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

Initialize a row vector from a standard vector of float.

Definition at line 343 of file vpColVector.cpp.

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

◆ operator=() [4/10]

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

Copy operator. Allow operation such as w = v.

vpColVector v(6, 1);
w = v;

Definition at line 353 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::dimensionErrorIf the matrix has more than 1 column.

Definition at line 320 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 386 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 375 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 364 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 427 of file vpColVector.cpp.

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

◆ operator=() [10/10]

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

Overloaded move assignment operator taking rvalue.

Definition at line 449 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 492 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 and their respective values are the same, false when their size or values differ.

Definition at line 479 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 494 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 581 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 586 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
sStream used for the printing.
lengthThe suggested width of each vector element. The actual width grows in order to accommodate the whole integral part, and shrinks if the whole extent is not needed for all the numbers.
introThe introduction which is printed before the vector. Can be set to zero (or omitted), in which case the introduction is not printed.
Returns
Returns the common total width for all vector elements.
See also
std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)
Examples
testColVector.cpp, and testTwistMatrix.cpp.

Definition at line 787 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 970 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 752 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::dimensionErrorIf 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;
}
void reshape(vpMatrix &M, const unsigned int &nrows, const unsigned int &ncols)
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146

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 759 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::fatalErrorWhen ncols is not equal to 1.
Examples
ClassUsingPclViewer.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoViper850Point2DCamVelocityKalman.cpp, testColVector.cpp, and testRealSense2_T265_images_odometry_async.cpp.

Definition at line 1056 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(), vpRobotPololuPtu::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(), vpMeTracker::init(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpRobotBiclops::init(), vpSimulatorAfma6::init(), vpSimulatorViper850::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::fatalErrorWhen ncols is not equal to 1.

Definition at line 1072 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 339 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 1397 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 842 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::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n - a YAML-formatted \
header\n - with inner indentation");
static bool saveYAML(const std::string &filename, const vpArray2D< Type > &A, const char *header="")
Definition: vpArray2D.h:937

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:139
vp_deprecated vpColVector rows(unsigned int first_row, unsigned int last_row) const
Definition: vpColVector.h:1397

Content of matrixIndent.yml:

example:
- a YAML-formatted header
- with inner indentation
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
See also
loadYAML()

Definition at line 937 of file vpArray2D.h.

◆ size()

◆ 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 718 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 greatest.

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;
std::cout << "s: " << s.t() << std::endl;
}
static vpColVector sort(const vpColVector &v)

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 600 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 $[A B]^T$.
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 633 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 $C = [A B]^T$.
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 640 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 631 of file vpColVector.cpp.

References stack().

◆ stack() [4/4]

◆ 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 1410 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

◆ stackMatrices() [3/3]

vp_deprecated void vpColVector::stackMatrices ( const vpColVector r)
inline
Deprecated:
You should rather use stack(const vpColVector &)

Definition at line 1405 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 695 of file vpColVector.cpp.

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

◆ sum()

double vpColVector::sum ( ) const

Return the sum of all the elements $v_{i}$ of the column vector $ \bf v $ that is of dimension $ m $.

Returns
The value

\[ \sum_{i=0}^{m-1} v_i \]

.

Definition at line 875 of file vpColVector.cpp.

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

Referenced by mean(), and stdev().

◆ sumSquare()

◆ 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, 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-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, tutorial-hsv-segmentation.cpp, and tutorial-pioneer-robot.cpp.

Definition at line 509 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(), vpRobotPololuPtu::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 437 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 516 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 518 of file vpColVector.cpp.

References t().

Friends And Related Function Documentation

◆ from_json

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

Retrieve a vpColVector object from a JSON representation.

Parameters
j: JSON representation to convert.
v: Converted object.

Definition at line 1465 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 
)
related

Insert array B in array A at the given position.

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 1059 of file vpArray2D.h.

◆ operator*()

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

Allows to multiply a scalar by a column vector.

Definition at line 520 of file vpColVector.cpp.

◆ operator==() [1/2]

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

Definition at line 1251 of file vpArray2D.h.

◆ operator==() [2/2]

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

Definition at line 1269 of file vpArray2D.h.

◆ to_json

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

Convert a vpColVector object to a JSON representation.

Parameters
j: Resulting json object.
v: The object to convert.

Definition at line 1459 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 
)
related

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

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

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

Definition at line 388 of file vpGEMM.h.

◆ vpGEMMmethod

enum vpGEMMmethod
related

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

Operations are :

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

Definition at line 52 of file vpGEMM.h.

◆ vpMatrix

friend class vpMatrix
friend

Definition at line 164 of file vpColVector.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 131 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data
inherited

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 135 of file vpArray2D.h.

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 129 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 133 of file vpArray2D.h.