Visual Servoing Platform  version 3.6.1 under development (2024-05-26)
vpQuaternionVector Class Reference

#include <visp3/core/vpQuaternionVector.h>

+ Inheritance diagram for vpQuaternionVector:

Public Member Functions

 vpQuaternionVector ()
 
 vpQuaternionVector (const vpQuaternionVector &q)
 
 vpQuaternionVector (const double qx, const double qy, const double qz, const double qw)
 
 vpQuaternionVector (const vpRotationMatrix &R)
 
 vpQuaternionVector (const vpThetaUVector &tu)
 
 vpQuaternionVector (const vpColVector &q)
 
 vpQuaternionVector (const std::vector< double > &q)
 
vp_deprecated vpQuaternionVector buildFrom (const double qx, const double qy, const double qz, const double qw)
 
vp_deprecated vpQuaternionVector buildFrom (const vpRotationMatrix &R)
 
vp_deprecated vpQuaternionVector buildFrom (const vpThetaUVector &tu)
 
vp_deprecated vpQuaternionVector buildFrom (const vpColVector &q)
 
vp_deprecated vpQuaternionVector buildFrom (const std::vector< double > &q)
 
vpQuaternionVectorbuild (const double &qx, const double &qy, const double &qz, const double &qw)
 
vpQuaternionVectorbuild (const vpRotationMatrix &R)
 
vpQuaternionVectorbuild (const vpThetaUVector &tu)
 
vpQuaternionVectorbuild (const vpColVector &q)
 
vpQuaternionVectorbuild (const std::vector< double > &q)
 
void set (double x, double y, double z, double w)
 
const double & x () const
 
const double & y () const
 
const double & z () const
 
const double & w () const
 
double & x ()
 
double & y ()
 
double & z ()
 
double & w ()
 
vpQuaternionVector operator+ (const vpQuaternionVector &q) const
 
vpQuaternionVector operator- (const vpQuaternionVector &q) const
 
vpQuaternionVector operator- () const
 
vpQuaternionVector operator* (double l) const
 
vpQuaternionVector operator* (const vpQuaternionVector &rq) const
 
vpQuaternionVector operator/ (double l) const
 
vpQuaternionVectoroperator= (const vpColVector &q)
 
vpQuaternionVectoroperator= (const vpQuaternionVector &)=default
 
vpQuaternionVectoroperator= (const std::initializer_list< double > &list)
 
vpQuaternionVector conjugate () const
 
vpQuaternionVector inverse () const
 
double magnitude () const
 
void normalize ()
 
Inherited functionalities from vpArray2D
unsigned int getCols () const
 
double getMaxValue () const
 
double getMinValue () const
 
unsigned int getRows () const
 
unsigned int size () const
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
 
void reshape (unsigned int nrows, unsigned int ncols)
 
void insert (const vpArray2D< double > &A, unsigned int r, unsigned int c)
 
bool operator== (const vpArray2D< double > &A) const
 
bool operator!= (const vpArray2D< double > &A) const
 
vpArray2D< double > hadamard (const vpArray2D< double > &m) const
 

Static Public Member Functions

static double dot (const vpQuaternionVector &q0, const vpQuaternionVector &q1)
 
static vpQuaternionVector lerp (const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
 
static vpQuaternionVector nlerp (const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
 
static vpQuaternionVector slerp (const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
 

Public Attributes

double * data
 

Protected Attributes

unsigned int rowNum
 
unsigned int colNum
 
double ** rowPtrs
 
unsigned int dsize
 

Related Functions

(Note that these are not member functions.)

vpColVector operator* (const double &x, const vpRotationVector &v)
 
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 functionalities from vpRotationVector

double & operator[] (unsigned int i)
 
const double & operator[] (unsigned int i) const
 
vpRotationVectoroperator<< (double val)
 
vpRotationVectoroperator, (double val)
 
double sumSquare () const
 
vpRowVector t () const
 
std::vector< double > toStdVector () const
 
unsigned int m_index
 

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 a rotation vector as quaternion angle minimal representation.

Defines a quaternion and its basic operations.

The vpQuaternionVector class is derived from vpRotationVector.

A quaternion is defined by four double values: ${\bf q} = (x, y, z, w)$.

This class allows to compute a quaternion from a rotation matrix using either vpQuaternionVector(const vpRotationMatrix &) constructor or build() method.

It also defines common operations on a quaternion such as:

  • multiplication (scalar and quaternion)
  • addition
  • subtraction.

You can set values accessing each element:

q[0] = x
q[1] = y;
q[2] = z;
q[3] = w;
Implementation of a rotation vector as quaternion angle minimal representation.
const double & z() const
Returns the z-component of the quaternion.
const double & x() const
Returns the x-component of the quaternion.
const double & y() const
Returns the y-component of the quaternion.
const double & w() const
Returns the w-component of the quaternion.

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

tu << x, y, z, w;

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

tu = {x, y, z, w};

To get the values use:

double x = q[0];
double y = q[1];
double z = q[2];
double w = q[3];

or use getter:

double x = q.x();
double y = q.y();
double z = q.z();
double w = q.w();
Examples
calibrate-hand-eye.cpp, testEigenConversion.cpp, testMatrixInitialization.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testQuaternion.cpp, testRealSense2_T265_images_odometry_async.cpp, testRotation.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 104 of file vpQuaternionVector.h.

Constructor & Destructor Documentation

◆ vpQuaternionVector() [1/7]

vpQuaternionVector::vpQuaternionVector ( )

Default constructor that initialize all the 4 angles to zero.

Definition at line 55 of file vpQuaternionVector.cpp.

Referenced by conjugate(), operator*(), operator+(), operator-(), and operator/().

◆ vpQuaternionVector() [2/7]

vpQuaternionVector::vpQuaternionVector ( const vpQuaternionVector q)

Copy constructor.

Definition at line 58 of file vpQuaternionVector.cpp.

◆ vpQuaternionVector() [3/7]

vpQuaternionVector::vpQuaternionVector ( const double  qx,
const double  qy,
const double  qz,
const double  qw 
)

Constructor from doubles.

Definition at line 61 of file vpQuaternionVector.cpp.

References set().

◆ vpQuaternionVector() [4/7]

vpQuaternionVector::vpQuaternionVector ( const vpRotationMatrix R)
explicit

Constructs a quaternion from a rotation matrix.

Parameters
R: Matrix containing a rotation.

Definition at line 77 of file vpQuaternionVector.cpp.

References build().

◆ vpQuaternionVector() [5/7]

vpQuaternionVector::vpQuaternionVector ( const vpThetaUVector tu)
explicit

Constructor that initialize $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector from a $\theta {\bf u}$ vector.

Parameters
tu: $\theta {\bf u}$ representation of a rotation used here as input to initialize the Euler angles.

Definition at line 85 of file vpQuaternionVector.cpp.

References build().

◆ vpQuaternionVector() [6/7]

vpQuaternionVector::vpQuaternionVector ( const vpColVector q)
explicit

Constructor from a 4-dimension vector of doubles.

Definition at line 67 of file vpQuaternionVector.cpp.

References build().

◆ vpQuaternionVector() [7/7]

vpQuaternionVector::vpQuaternionVector ( const std::vector< double > &  q)
explicit

Constructor from a 4-dimension vector of doubles.

Definition at line 70 of file vpQuaternionVector.cpp.

References build().

Member Function Documentation

◆ build() [1/5]

vpQuaternionVector & vpQuaternionVector::build ( const double &  qx,
const double &  qy,
const double &  qz,
const double &  qw 
)

Manually change values of a quaternion.

Parameters
qx: x quaternion parameter.
qy: y quaternion parameter.
qz: z quaternion parameter.
qw: w quaternion parameter.
See also
set()

Definition at line 174 of file vpQuaternionVector.cpp.

References set().

Referenced by build(), buildFrom(), vp::eigen2visp(), vpHomogeneousMatrix::extract(), vpPoseVector::extract(), and vpQuaternionVector().

◆ build() [2/5]

vpQuaternionVector & vpQuaternionVector::build ( const std::vector< double > &  q)

Construct a quaternion vector from a 4-dim vector (x,y,z,w).

Definition at line 213 of file vpQuaternionVector.cpp.

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

◆ build() [3/5]

vpQuaternionVector & vpQuaternionVector::build ( const vpColVector q)

Construct a quaternion vector from a 4-dim vector (x,y,z,w).

Definition at line 197 of file vpQuaternionVector.cpp.

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

◆ build() [4/5]

vpQuaternionVector & vpQuaternionVector::build ( const vpRotationMatrix R)

Constructs a quaternion from a rotation matrix.

Parameters
R: Rotation matrix.

Definition at line 231 of file vpQuaternionVector.cpp.

References vpThetaUVector::extract(), and set().

◆ build() [5/5]

vpQuaternionVector & vpQuaternionVector::build ( const vpThetaUVector tu)

Convert a $\theta {\bf u}$ vector into a quaternion.

Parameters
tu: $\theta {\bf u}$ representation of a rotation used here as input.
Returns
Quaternion vector.

Definition at line 186 of file vpQuaternionVector.cpp.

References build().

◆ buildFrom() [1/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const double  qx,
const double  qy,
const double  qz,
const double  qw 
)
Deprecated:
You should use build(const double &, const double &, const double &, const double &) instead. Manually change values of a quaternion.
Parameters
qx: x quaternion parameter.
qy: y quaternion parameter.
qz: z quaternion parameter.
qw: w quaternion parameter.
See also
set()

Definition at line 113 of file vpQuaternionVector.cpp.

References build().

◆ buildFrom() [2/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const std::vector< double > &  q)
Deprecated:
You should use build(const std::vector<double> &q) instead. Construct a quaternion vector from a 4-dim vector (x,y,z,w).

Definition at line 146 of file vpQuaternionVector.cpp.

References build().

◆ buildFrom() [3/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpColVector q)
Deprecated:
You should use build(const vpColVector &q) instead. Construct a quaternion vector from a 4-dim vector (x,y,z,w).

Definition at line 136 of file vpQuaternionVector.cpp.

References build().

◆ buildFrom() [4/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpRotationMatrix R)
Deprecated:
You should use build(const vpRotationMatrix &) instead. Constructs a quaternion from a rotation matrix.
Parameters
R: Rotation matrix.

Definition at line 158 of file vpQuaternionVector.cpp.

References build().

◆ buildFrom() [5/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpThetaUVector tu)
Deprecated:
You should use build(const vpThetaUVector &) instead. Convert a $\theta {\bf u}$ vector into a quaternion.
Parameters
tu: $\theta {\bf u}$ representation of a rotation used here as input.
Returns
Quaternion vector.

Definition at line 126 of file vpQuaternionVector.cpp.

References build().

◆ conjugate()

vpQuaternionVector vpQuaternionVector::conjugate ( ) const

Quaternion conjugate.

Returns
The conjugate quaternion.
Examples
testQuaternion.cpp.

Definition at line 339 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

Referenced by inverse().

◆ conv2() [1/2]

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

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

Parameters
M: First matrix.
kernel: Second matrix.
mode: Convolution mode: "full" (default), "same", "valid".
Convolution mode: full, same, valid (image credit: Theano doc).
Note
This is a very basic implementation that does not use FFT.
Examples
testMatrixConvolution.cpp.

Definition at line 1038 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 1052 of file vpArray2D.h.

◆ dot()

double vpQuaternionVector::dot ( const vpQuaternionVector q0,
const vpQuaternionVector q1 
)
static

Compute dot product between two quaternions.

Parameters
q0: First quaternion.
q1: Second quaternion.
Returns
The dot product between q0 and q1.

Definition at line 387 of file vpQuaternionVector.cpp.

References w(), x(), y(), and z().

Referenced by lerp(), and slerp().

◆ getCols()

◆ getMaxValue()

double vpArray2D< double >::getMaxValue
inherited

Return the array max value.

Examples
servoMomentImage.cpp.

Definition at line 331 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue
inherited

Return the array min value.

Examples
servoMomentImage.cpp.

Definition at line 333 of file vpArray2D.h.

◆ getRows()

◆ 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} $
Examples
testArray2D.cpp.

Definition at line 630 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 1066 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 486 of file vpArray2D.h.

◆ inverse()

vpQuaternionVector vpQuaternionVector::inverse ( ) const

Quaternion inverse.

Returns
The inverse quaternion.
Examples
testQuaternion.cpp.

Definition at line 346 of file vpQuaternionVector.cpp.

References conjugate(), vpMath::nul(), w(), x(), y(), and z().

◆ lerp()

vpQuaternionVector vpQuaternionVector::lerp ( const vpQuaternionVector q0,
const vpQuaternionVector q1,
double  t 
)
static

Compute Quaternion Linear intERPolation (LERP). See the following references:

Note
Shortest path will be use.
Parameters
q0: Start quaternion.
q1: End quaternion.
t: Interpolation value between [0, 1].
Returns
The interpolated quaternion using the LERP method.
Examples
testQuaternion.cpp.

Definition at line 455 of file vpQuaternionVector.cpp.

References dot(), vpRotationVector::t(), w(), x(), y(), and z().

Referenced by nlerp().

◆ load()

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 658 of file vpArray2D.h.

◆ 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 772 of file vpArray2D.h.

◆ magnitude()

double vpQuaternionVector::magnitude ( ) const

Quaternion magnitude or norm.

Returns
The magnitude or norm of the quaternion.

Definition at line 366 of file vpQuaternionVector.cpp.

References w(), x(), y(), and z().

Referenced by normalize().

◆ nlerp()

vpQuaternionVector vpQuaternionVector::nlerp ( const vpQuaternionVector q0,
const vpQuaternionVector q1,
double  t 
)
static

Compute Quaternion Normalized Linear intERPolation (NLERP). See the following references:

Note
Shortest path will be use.
Parameters
q0: Start quaternion.
q1: End quaternion.
t: Interpolation value between [0, 1].
Returns
The interpolated quaternion using the NLERP method.
Examples
testQuaternion.cpp.

Definition at line 489 of file vpQuaternionVector.cpp.

References lerp(), normalize(), and vpRotationVector::t().

◆ normalize()

void vpQuaternionVector::normalize ( )

Normalize the quaternion.

Definition at line 371 of file vpQuaternionVector.cpp.

References magnitude(), vpMath::nul(), set(), w(), x(), y(), and z().

Referenced by nlerp(), and slerp().

◆ operator!=()

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

Not equal to comparison operator of a 2D array.

Definition at line 512 of file vpArray2D.h.

◆ operator*() [1/2]

vpQuaternionVector vpQuaternionVector::operator* ( const vpQuaternionVector rq) const

Multiply two quaternions.

Definition at line 278 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator*() [2/2]

vpQuaternionVector vpQuaternionVector::operator* ( double  l) const

Multiplication by scalar. Returns a quaternion defined by (lx,ly,lz,lw).

Definition at line 272 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator+()

vpQuaternionVector vpQuaternionVector::operator+ ( const vpQuaternionVector q) const

Quaternion addition.

Adds two quaternions. Addition is component-wise.

Parameters
q: quaternion to add.

Definition at line 252 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator,()

vpRotationVector & vpRotationVector::operator, ( double  val)
inherited

Set vector second and third element values.

Parameters
val: Value of the vector element [rad].
Returns
An updated vector.

The following example shows how to initialize a $\theta_u$ vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
int main()
{
tu << 0, M_PI_2, M_PI;
std::cout << "tu: " << tu.t() << std::endl;
}
vpRowVector t() const
Implementation of a rotation vector as axis-angle minimal representation.

It produces the following printings:

tu: 0 1.570796327 3.141592654
See also
operator<<()

Definition at line 163 of file vpRotationVector.cpp.

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

◆ operator-() [1/2]

vpQuaternionVector vpQuaternionVector::operator- ( void  ) const

Negate operator. Returns a quaternion defined by (-x,-y,-z-,-w).

Definition at line 269 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator-() [2/2]

vpQuaternionVector vpQuaternionVector::operator- ( const vpQuaternionVector q) const

Quaternion subtraction.

subtracts a quaternion from another. subtraction is component-wise.

Parameters
q: quaternion to subtract.

Definition at line 263 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator/()

vpQuaternionVector vpQuaternionVector::operator/ ( double  l) const

Division by scalar. Returns a quaternion defined by (x/l,y/l,z/l,w/l).

Definition at line 287 of file vpQuaternionVector.cpp.

References vpException::fatalError, vpMath::nul(), vpQuaternionVector(), w(), x(), y(), and z().

◆ operator<<()

vpRotationVector & vpRotationVector::operator<< ( double  val)
inherited

Set vector first element value.

Parameters
val: Value of the vector first element [rad].
Returns
An updated vector.

The following example shows how to initialize a $\theta_u$ vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
int main()
{
tu << 0, M_PI_2, M_PI;
std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654
See also
operator,()

Definition at line 133 of file vpRotationVector.cpp.

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

◆ operator=() [1/3]

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

Set vector from a list of 4 double angle values.

#include <visp3/core/vpQuaternionVector.cpp>
int main()
{
vpQuaternionVector q = {0, 0, 0, 1};
std::cout << "q: " << q.t() << std::endl;
}

It produces the following printings:

q: 0 0 0 1
See also
operator<<()

Definition at line 428 of file vpQuaternionVector.cpp.

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

◆ operator=() [2/3]

vpQuaternionVector & vpQuaternionVector::operator= ( const vpColVector q)

Copy operator that initializes a quaternion vector from a 4-dimension column vector q.

Parameters
q: 4-dimension vector containing the values of the quaternion vector.
#include <visp3/core/vpQuaternionVector.h>
int main()
{
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
v[3] = 0.4;
q = v;
// q is now equal to v : 0.1, 0.2, 0.3, 0.4
}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163

Definition at line 319 of file vpQuaternionVector.cpp.

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

◆ operator=() [3/3]

vpQuaternionVector& vpQuaternionVector::operator= ( const vpQuaternionVector )
default

◆ operator==()

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

Equal to comparison operator of a 2D array.

Definition at line 508 of file vpArray2D.h.

◆ operator[]() [1/2]

double& vpRotationVector::operator[] ( unsigned int  i)
inlineinherited

Operator that allows to set the value of an element of the rotation vector: r[i] = value

Definition at line 117 of file vpRotationVector.h.

◆ operator[]() [2/2]

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

Operator that allows to get the value of an element of the rotation vector: value = r[i]

Definition at line 122 of file vpRotationVector.h.

◆ reshape()

void vpArray2D< double >::reshape ( unsigned int  nrows,
unsigned int  ncols 
)
inlineinherited
Examples
testMatrixInitialization.cpp.

Definition at line 445 of file vpArray2D.h.

◆ resize()

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 354 of file vpArray2D.h.

◆ save()

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< Type > &  A,
bool  binary = false,
const char *  header = "" 
)
inlinestaticinherited

Save a matrix to a file.

Parameters
filename: Absolute file name.
A: Array to be saved.
binary: If true the matrix is saved in a binary file, else a text file.
header: Optional line that will be saved at the beginning of the file.
Returns
Returns true if success.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

See also
load()

Definition at line 860 of file vpArray2D.h.

◆ saveYAML()

static bool vpArray2D< double >::saveYAML ( const std::string &  filename,
const vpArray2D< Type > &  A,
const char *  header = "" 
)
inlinestaticinherited

Save an array in a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be saved in the file.
header: optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.
Returns
Returns true if success.

Here is an example of outputs.

vpArray2D::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:957

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

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 957 of file vpArray2D.h.

◆ set()

void vpQuaternionVector::set ( double  qx,
double  qy,
double  qz,
double  qw 
)

Manually change values of a quaternion.

Parameters
qx: x quaternion parameter.
qy: y quaternion parameter.
qz: z quaternion parameter.
qw: w quaternion parameter.
Examples
testQuaternion.cpp, and testRotation.cpp.

Definition at line 94 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by build(), normalize(), and vpQuaternionVector().

◆ size()

◆ slerp()

vpQuaternionVector vpQuaternionVector::slerp ( const vpQuaternionVector q0,
const vpQuaternionVector q1,
double  t 
)
static

Compute Quaternion Spherical Linear intERPolation (SLERP). See the following references:

Note
Shortest path will be use.
Parameters
q0: Start quaternion.
q1: End quaternion.
t: Interpolation value between [0, 1].
Returns
The interpolated quaternion using the SLERP method.
Examples
testQuaternion.cpp.

Definition at line 513 of file vpQuaternionVector.cpp.

References dot(), normalize(), vpRotationVector::t(), w(), x(), y(), and z().

◆ sumSquare()

double vpRotationVector::sumSquare ( ) const
inherited

Return the sum square of all the elements $r_{i}$ of the rotation vector r(m).

Returns
The value

\[\sum{i=0}^{m} r_i^{2}\]

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

Definition at line 182 of file vpRotationVector.cpp.

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

◆ t()

◆ toStdVector()

std::vector< double > vpRotationVector::toStdVector ( ) const
inherited

Converts the vpRotationVector to a std::vector.

Returns
The corresponding std::vector<double>.

Definition at line 68 of file vpRotationVector.cpp.

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

◆ w() [1/2]

double & vpQuaternionVector::w ( )

Returns a reference to the w-component of the quaternion.

Definition at line 408 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ w() [2/2]

const double & vpQuaternionVector::w ( ) const

◆ x() [1/2]

double & vpQuaternionVector::x ( )

Returns a reference to the x-component of the quaternion.

Definition at line 402 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ x() [2/2]

const double & vpQuaternionVector::x ( ) const

◆ y() [1/2]

double & vpQuaternionVector::y ( )

Returns a reference to the y-component of the quaternion.

Definition at line 404 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ y() [2/2]

const double & vpQuaternionVector::y ( ) const

◆ z() [1/2]

double & vpQuaternionVector::z ( )

Returns a reference to the z-component of the quaternion.

Definition at line 406 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ z() [2/2]

const double & vpQuaternionVector::z ( ) const

Friends And Related Function Documentation

◆ insert()

void vpArray2D< double >::insert ( const vpArray2D< Type > &  A,
const vpArray2D< Type > &  B,
vpArray2D< Type > &  C,
unsigned int  r,
unsigned int  c 
)
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 1081 of file vpArray2D.h.

◆ operator!=()

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

Definition at line 1325 of file vpArray2D.h.

◆ operator*()

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

Allows to multiply a scalar by rotaion vector.

Definition at line 103 of file vpRotationVector.cpp.

◆ operator==() [1/2]

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

Definition at line 1287 of file vpArray2D.h.

◆ operator==() [2/2]

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

Definition at line 1306 of file vpArray2D.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:413

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 413 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.

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.

◆ m_index

unsigned int vpRotationVector::m_index
protectedinherited

◆ 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.