Visual Servoing Platform  version 3.6.1 under development (2024-07-15)
vpPoseVector Class Reference

#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 ()
 
VP_DEPRECATED vpPoseVector buildFrom (double tx, double ty, double tz, double tux, double tuy, double tuz)
 
VP_DEPRECATED vpPoseVector buildFrom (const vpHomogeneousMatrix &M)
 
VP_DEPRECATED vpPoseVector buildFrom (const vpTranslationVector &tv, const vpThetaUVector &tu)
 
VP_DEPRECATED vpPoseVector buildFrom (const vpTranslationVector &tv, const vpRotationMatrix &R)
 
vpPoseVectorbuild (const double &tx, const double &ty, const double &tz, const double &tux, const double &tuy, const double &tuz)
 
vpPoseVectorbuild (const vpHomogeneousMatrix &M)
 
vpPoseVectorbuild (const vpTranslationVector &tv, const vpThetaUVector &tu)
 
vpPoseVectorbuild (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
 
Deprecated functions
VP_DEPRECATED void init ()
 
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()
{
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;
}
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:203

It produces the following printings:

pose vector:
0.1
0.2
0.3
3.141592654
1.570796327
0.7853981634

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()
{
t << 0.1, 0.2, 0.3;
tu << M_PI, M_PI_2, M_PI_4;
vpPoseVector pose(t, tu);
}
vpRowVector t() const
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.

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()
{
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);
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, 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, testAprilTag.cpp, testFindMatch.cpp, testFrankaGetPose.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testGenericTrackerDeterminist.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testPoseVector.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]

BEGIN_VISP_NAMESPACE 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 build().

◆ 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 build().

◆ 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 build().

◆ ~vpPoseVector()

virtual vpPoseVector::~vpPoseVector ( )
inlinevirtual

Definition at line 216 of file vpPoseVector.h.

Member Function Documentation

◆ build() [1/4]

vpPoseVector & vpPoseVector::build ( 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
testPoseFeatures.cpp, and testPoseVector.cpp.

Definition at line 268 of file vpPoseVector.cpp.

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

◆ build() [2/4]

vpPoseVector & vpPoseVector::build ( 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 297 of file vpPoseVector.cpp.

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

◆ build() [3/4]

vpPoseVector & vpPoseVector::build ( 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 341 of file vpPoseVector.cpp.

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

◆ build() [4/4]

vpPoseVector & vpPoseVector::build ( 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 318 of file vpPoseVector.cpp.

◆ buildFrom() [1/4]

vpPoseVector vpPoseVector::buildFrom ( const vpHomogeneousMatrix M)
Deprecated:
You should use build(const vpHomogeneousMatrix &) instead. 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 209 of file vpPoseVector.cpp.

References build().

◆ buildFrom() [2/4]

vpPoseVector vpPoseVector::buildFrom ( const vpTranslationVector tv,
const vpRotationMatrix R 
)
Deprecated:
You should use build(const vpTranslationVector &, const vpRotationMatrix &) instead. 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 245 of file vpPoseVector.cpp.

References build().

◆ buildFrom() [3/4]

vpPoseVector vpPoseVector::buildFrom ( const vpTranslationVector tv,
const vpThetaUVector tu 
)
Deprecated:
You should use build(const vpTranslationVector &, const vpThetaUVector &) instead. 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 226 of file vpPoseVector.cpp.

References build().

◆ buildFrom() [4/4]

vpPoseVector vpPoseVector::buildFrom ( double  tx,
double  ty,
double  tz,
double  tux,
double  tuy,
double  tuz 
)
Deprecated:
You should use build(const double &, const double &, const double &, const double &, const double &, const double &) instead. 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()

Definition at line 191 of file vpPoseVector.cpp.

References build().

◆ 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 1050 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 1064 of file vpArray2D.h.

◆ extract() [1/4]

void vpPoseVector::extract ( vpQuaternionVector q) const

Extract the rotation as a quaternion vector.

Definition at line 381 of file vpPoseVector.cpp.

References vpQuaternionVector::build().

◆ extract() [2/4]

void vpPoseVector::extract ( vpRotationMatrix R) const

Extract the rotation as a rotation matrix.

Examples
testVirtuoseHapticBox.cpp.

Definition at line 389 of file vpPoseVector.cpp.

References vpRotationMatrix::build().

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 366 of file vpPoseVector.cpp.

◆ extract() [4/4]

void vpPoseVector::extract ( vpTranslationVector tv) const

Extract the translation vector from the homogeneous matrix.

Definition at line 353 of file vpPoseVector.cpp.

◆ getCols()

◆ 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 407 of file vpPoseVector.cpp.

◆ getRows()

◆ getThetaUVector()

vpThetaUVector vpPoseVector::getThetaUVector ( ) const

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

Definition at line 417 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 394 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 638 of file vpArray2D.h.

◆ init()

VP_DEPRECATED void vpPoseVector::init ( )
inline
Deprecated:
Provided only for compat with previous releases. This function does nothing.

Definition at line 338 of file vpPoseVector.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 1078 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 494 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 666 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 490 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 780 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 520 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 516 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
// 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 272 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 291 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 444 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
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)

Definition at line 533 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 453 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::fatalErrorWhen this function is called.

Definition at line 302 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
perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, testArray2D.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 871 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 470 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::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:969

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:148

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 969 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
testPoseVector.cpp.

Definition at line 156 of file vpPoseVector.cpp.

◆ size()

◆ t()

◆ 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 625 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 350 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 
)
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 1093 of file vpArray2D.h.

◆ operator!=()

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

Definition at line 1348 of file vpArray2D.h.

◆ operator==() [1/2]

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

Definition at line 1310 of file vpArray2D.h.

◆ operator==() [2/2]

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

Definition at line 1329 of file vpArray2D.h.

◆ to_json

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

Definition at line 345 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 
)
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: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::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 414 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 53 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 1100 of file vpArray2D.h.

◆ data

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 1104 of file vpArray2D.h.

◆ jsonTypeName

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

Definition at line 319 of file vpPoseVector.h.

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 1098 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 1102 of file vpArray2D.h.