#include <visp3/core/vpPoseVector.h>

Inheritance diagram for vpPoseVector:

Public Member Functions
	vpPoseVector ()

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

VP_EXPLICIT	vpPoseVector (const vpHomogeneousMatrix &M)

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

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

virtual	~vpPoseVector ()

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

vpPoseVector &	buildFrom (const vpHomogeneousMatrix &M)

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

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

void	extract (vpRotationMatrix &R) const

void	extract (vpThetaUVector &tu) const

void	extract (vpTranslationVector &tv) const

void	extract (vpQuaternionVector &q) const

vpRotationMatrix	getRotationMatrix () const

vpThetaUVector	getThetaUVector () const

vpTranslationVector	getTranslationVector () const

void	load (std::ifstream &f)

double &	operator[] (unsigned int i)

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

void	print () const

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

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

void	save (std::ofstream &f) const

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

vpRowVector	t () const

std::vector< double >	toStdVector () 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

Public Attributes
double *	data

Static Public Attributes
static const std::string	jsonTypeName = "vpPoseVector"

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

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

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)

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

unsigned int	rowNum

unsigned int	colNum

double **	rowPtrs

unsigned int	dsize

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)

Detailed Description

Implementation of a pose vector and operations on poses.

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

The vpPose class is derived from vpArray2D<double>.

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

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

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

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

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

The following code shows how to initialize a pose vector:

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

It produces the following printings:

pose vector:
1
2
3
141592654
570796327
7853981634

The same initialization could be achieved this way:

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

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

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

JSON serialization

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

#include <visp3/core/vpPoseVector.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
#if defined(VISP_HAVE_NLOHMANN_JSON)
  std::string filename = "pose-vector.json";
  {
    vpPoseVector pose(0.1, 0.2, 0.3, M_PI, M_PI_2, M_PI_4);
    std::ofstream file(filename);
    const nlohmann::json j = pose;
    file << j;
    file.close();
  }
  {
    std::ifstream file(filename);
    const nlohmann::json j = nlohmann::json::parse(file);
    vpPoseVector pose;
    pose = j;
    file.close();
    std::cout << "Read pose vector from " << filename << ":\n" << pose.t() << std::endl;
  }
#endif
}

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

Read pose vector from pose-vector.json:

0.1 0.2 0.3 3.141592654 1.570796327 0.7853981634

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

$ cat pose-vector.json

{"cols":1,"data":[0.1,0.2,0.3,3.141592653589793,1.5707963267948966,0.7853981633974483],"rows":6,"type":"vpPoseVector"}

Examples: calibrate-hand-eye.cpp, catchAprilTag.cpp, catchGenericTrackerDeterminist.cpp, catchPoseVector.cpp, perfGenericTracker.cpp, servoAfma6MegaposePBVS.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuThetaUCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFindMatch.cpp, testFrankaGetPose.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testUniversalRobotsCartPosition.cpp, testUniversalRobotsGetData.cpp, testVirtuoseHapticBox.cpp, testVirtuosePeriodicFunction.cpp, testVirtuoseWithGlove.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-pose-from-points-live.cpp, and tutorial-pose-from-points-realsense-T265.cpp.

Definition at line 202 of file vpPoseVector.h.

Constructor & Destructor Documentation

◆ vpPoseVector() [1/5]

vpPoseVector::vpPoseVector ( )

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

The pose vector is initialized to zero.

Definition at line 62 of file vpPoseVector.cpp.

◆ vpPoseVector() [2/5]

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

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

Translations are expressed in meters, while rotations in radians.

Parameters

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

Definition at line 79 of file vpPoseVector.cpp.

◆ vpPoseVector() [3/5]

vpPoseVector::vpPoseVector ( const vpHomogeneousMatrix & M )

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

Parameters

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

Definition at line 139 of file vpPoseVector.cpp.

References buildFrom().

◆ vpPoseVector() [4/5]

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

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

Parameters

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

Definition at line 107 of file vpPoseVector.cpp.

References buildFrom().

◆ vpPoseVector() [5/5]

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

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

Parameters

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

Definition at line 124 of file vpPoseVector.cpp.

References buildFrom().

◆ ~vpPoseVector()

virtual vpPoseVector::~vpPoseVector ( )

inlinevirtual

Definition at line 216 of file vpPoseVector.h.

Member Function Documentation

◆ buildFrom() [1/4]

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

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

Translations are expressed in meters, while rotations in radians.

Parameters

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

Returns: The build pose vector.

See also: set()

Examples: catchPoseVector.cpp, and testPoseFeatures.cpp.

Definition at line 189 of file vpPoseVector.cpp.

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

◆ buildFrom() [2/4]

vpPoseVector & vpPoseVector::buildFrom ( const vpHomogeneousMatrix & M )

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

Parameters

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

Returns: The build pose vector.

Definition at line 218 of file vpPoseVector.cpp.

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

◆ buildFrom() [3/4]

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

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

Parameters

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

Returns: The build pose vector.

Definition at line 263 of file vpPoseVector.cpp.

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

◆ buildFrom() [4/4]

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

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

Parameters

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

Returns: The build pose vector.

Definition at line 239 of file vpPoseVector.cpp.

◆ 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.

Definition at line 1053 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 1067 of file vpArray2D.h.

◆ extract() [1/4]

void vpPoseVector::extract ( vpQuaternionVector & q ) const

Extract the rotation as a quaternion vector.

Definition at line 303 of file vpPoseVector.cpp.

References vpQuaternionVector::buildFrom().

◆ extract() [2/4]

void vpPoseVector::extract ( vpRotationMatrix & R ) const

Extract the rotation as a rotation matrix.

Examples: testVirtuoseHapticBox.cpp.

Definition at line 311 of file vpPoseVector.cpp.

References vpRotationMatrix::buildFrom().

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

◆ extract() [3/4]

void vpPoseVector::extract ( vpThetaUVector & tu ) const

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

Definition at line 288 of file vpPoseVector.cpp.

◆ extract() [4/4]

void vpPoseVector::extract ( vpTranslationVector & tv ) const

Extract the translation vector from the homogeneous matrix.

Definition at line 275 of file vpPoseVector.cpp.

◆ getCols()

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

inlineinherited

Return the number of columns of the 2D array.

See also: getRows(), size()

Definition at line 337 of file vpArray2D.h.

◆ getMaxValue()

double vpArray2D< double >::getMaxValue

inherited

Return the array max value.

Examples: servoMomentImage.cpp.

Definition at line 339 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue

inherited

Return the array min value.

Examples: servoMomentImage.cpp.

Definition at line 341 of file vpArray2D.h.

◆ getRotationMatrix()

vpRotationMatrix vpPoseVector::getRotationMatrix ( ) const

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

Definition at line 335 of file vpPoseVector.cpp.

◆ getRows()

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

inlineinherited

◆ getThetaUVector()

vpThetaUVector vpPoseVector::getThetaUVector ( ) const

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

Definition at line 345 of file vpPoseVector.cpp.

◆ getTranslationVector()

vpTranslationVector vpPoseVector::getTranslationVector ( ) const

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

Definition at line 322 of file vpPoseVector.cpp.

◆ 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 641 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 1081 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 497 of file vpArray2D.h.

◆ load() [1/2]

static bool vpArray2D< double >::load	(	const std::string &	filename,
		vpArray2D< Type > &	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 669 of file vpArray2D.h.

◆ load() [2/2]

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

Read a pose vector from an input file stream.

Parameters

f	: The input file stream..Should be open before entering in this method.

Exceptions

vpException::ioError : If the input file stream is not open.

See also: save()

Definition at line 418 of file vpPoseVector.cpp.

References vpException::ioError.

◆ loadYAML()

static bool vpArray2D< double >::loadYAML	(	const std::string &	filename,
		vpArray2D< Type > &	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 783 of file vpArray2D.h.

◆ operator!=()

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

inherited

Not equal to comparison operator of a 2D array.

Definition at line 523 of file vpArray2D.h.

◆ operator==()

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

inherited

Equal to comparison operator of a 2D array.

Definition at line 519 of file vpArray2D.h.

◆ operator[]() [1/2]

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

inline

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

Parameters

i	: Pose vector element index

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

This code produces the same effect:

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

Definition at line 262 of file vpPoseVector.h.

◆ operator[]() [2/2]

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

inline

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

Parameters

i	: Pose vector element index

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

Definition at line 281 of file vpPoseVector.h.

◆ print() [1/2]

void vpPoseVector::print ( ) const

Prints to the standard stream the pose vector.

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

The following code

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

produces the output:

1 2 3 180 -180 0

See also: std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)

Definition at line 372 of file vpPoseVector.cpp.

References vpMath::deg().

◆ print() [2/2]

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

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

Parameters

s	Stream used for the printing.
length	The 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.
intro	The introduction which is printed before the vector. Can be set to zero (or omitted), in which case the introduction is not printed.

Returns: Returns the common total width for all vector elements.

See also: std::ostream &operator<<(std::ostream &s, const vpArray2D<Type> &A)

Definition at line 461 of file vpPoseVector.cpp.

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

◆ reshape()

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

inlineinherited

Examples: testMatrixInitialization.cpp.

Definition at line 456 of file vpArray2D.h.

◆ resize() [1/2]

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

inline

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

Exceptions

vpException::fatalError When this function is called.

Definition at line 292 of file vpPoseVector.h.

References vpException::fatalError.

◆ 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: catchArray2D.cpp, catchJsonArrayConversion.cpp, catchParticleFilter.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 362 of file vpArray2D.h.

◆ save() [1/2]

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 874 of file vpArray2D.h.

◆ save() [2/2]

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

Save the pose vector in the output file stream.

Parameters

f	: Output file stream. Should be open before entering in this method.

Exceptions

vpException::ioError : If the output stream is not open.

See also: load()

Definition at line 398 of file vpPoseVector.cpp.

References vpException::ioError.

◆ 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()

Definition at line 972 of file vpArray2D.h.

◆ set()

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

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

Translations are expressed in meters, while rotations in radians.

Parameters

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

Examples: catchPoseVector.cpp.

Definition at line 156 of file vpPoseVector.cpp.

◆ size()

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

inlineinherited

Return the number of elements of the 2D array.

Definition at line 349 of file vpArray2D.h.

◆ t()

vpRowVector vpPoseVector::t ( ) const

Examples: calibrate-hand-eye.cpp, testFindMatch.cpp, testFrankaGetPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testUniversalRobotsGetData.cpp, testVirtuosePeriodicFunction.cpp, and testVirtuoseWithGlove.cpp.

Definition at line 435 of file vpPoseVector.cpp.

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

Referenced by vpHomogeneousMatrix::print().

◆ toStdVector()

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

Converts the vpPoseVector to a 6-dim std::vector.

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

Definition at line 553 of file vpPoseVector.cpp.

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

Referenced by vpRobotUniversalRobots::setPosition().

Friends And Related Function Documentation

◆ from_json

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

friend

Definition at line 342 of file vpPoseVector.h.

◆ 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 1096 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

◆ to_json

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

friend

Definition at line 337 of file vpPoseVector.h.

◆ vpGEMM()

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

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

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

vpArray2D< double >::vpGEMM

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

Definition: vpGEMM.h:414

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 414 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 53 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 1103 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data

inherited

Address of the first element of the data array.

Examples: catchArray2D.cpp, catchQuaternion.cpp, catchRotation.cpp, perfMatrixMultiplication.cpp, testDisplacement.cpp, testMatrix.cpp, testTranslationVector.cpp, testUniversalRobotsGetData.cpp, tutorial-bridge-opencv-matrix.cpp, and tutorial-matlab.cpp.

Definition at line 148 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

Current array size (rowNum * colNum)

Definition at line 1107 of file vpArray2D.h.

◆ jsonTypeName

const std::string vpPoseVector::jsonTypeName = "vpPoseVector"

static

Definition at line 309 of file vpPoseVector.h.

◆ rowNum

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 1101 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 1105 of file vpArray2D.h.

Public Member Functions

Public Attributes

Static Public Attributes

Friends

Related Functions

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpPoseVector() [1/5]

◆ vpPoseVector() [2/5]

◆ vpPoseVector() [3/5]

◆ vpPoseVector() [4/5]

◆ vpPoseVector() [5/5]

◆ ~vpPoseVector()

Member Function Documentation

◆ buildFrom() [1/4]

◆ buildFrom() [2/4]

◆ buildFrom() [3/4]

◆ buildFrom() [4/4]

◆ conv2() [1/2]

◆ conv2() [2/2]

◆ extract() [1/4]

◆ extract() [2/4]

◆ extract() [3/4]

◆ extract() [4/4]

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRotationMatrix()

◆ getRows()

◆ getThetaUVector()

◆ getTranslationVector()

◆ hadamard()

◆ insert() [1/2]

◆ insert() [2/2]

◆ load() [1/2]

◆ load() [2/2]

◆ loadYAML()

◆ operator!=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ print() [1/2]

◆ print() [2/2]

◆ reshape()

◆ resize() [1/2]

◆ resize() [2/2]

◆ save() [1/2]

◆ save() [2/2]

◆ saveYAML()

◆ set()

◆ size()

◆ t()

◆ toStdVector()

Friends And Related Function Documentation

◆ from_json

◆ insert()

◆ operator!=()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ to_json

◆ vpGEMM()

◆ vpGEMMmethod

Member Data Documentation

◆ colNum

◆ data

◆ dsize

◆ jsonTypeName

◆ rowNum

◆ rowPtrs