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)
VP_EXPLICIT	vpQuaternionVector (const vpRotationMatrix &R)
VP_EXPLICIT	vpQuaternionVector (const vpThetaUVector &tu)
VP_EXPLICIT	vpQuaternionVector (const vpColVector &q)
VP_EXPLICIT	vpQuaternionVector (const std::vector< double > &q)
vpQuaternionVector &	buildFrom (const double &qx, const double &qy, const double &qz, const double &qw)
vpQuaternionVector &	buildFrom (const vpRotationMatrix &R)
vpQuaternionVector &	buildFrom (const vpThetaUVector &tu)
vpQuaternionVector &	buildFrom (const vpColVector &q)
vpQuaternionVector &	buildFrom (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
vpQuaternionVector &	operator= (const vpColVector &q)
vpQuaternionVector &	operator= (const vpQuaternionVector &)=default
vpQuaternionVector &	operator= (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)
static vpArray2D< double >	view (const vpArray2D< double > &A)
static vpArray2D< double >	view (double *data, unsigned int numRows, unsigned int numCols)
static void	view (vpArray2D< double > &v, double *data, unsigned int numRows, unsigned int numCols)

Public Attributes
double *	data

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
vpRotationVector &	operator<< (double val)
vpRotationVector &	operator, (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)
unsigned int	rowNum
unsigned int	colNum
double **	rowPtrs
unsigned int	dsize
bool	isMemoryOwner
bool	isRowPtrsOwner
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: .

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:

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

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

catchCalibHandEye.cpp, catchEigenConversion.cpp, catchQuaternion.cpp, catchRotation.cpp, testMatrixInitialization.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testRealSense2_T265_images_odometry_async.cpp, tutorial-pose-from-qrcode-image.cpp, visp-compute-eye-in-hand-calibration.cpp, and visp-compute-eye-to-hand-calibration.cpp.

Definition at line 105 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 52 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 55 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 58 of file vpQuaternionVector.cpp.

References set().

vpQuaternionVector() [4/7]

vpQuaternionVector::vpQuaternionVector

(

const vpRotationMatrix &

R

)

Constructs a quaternion from a rotation matrix.

Parameters

R	: Matrix containing a rotation.

Definition at line 74 of file vpQuaternionVector.cpp.

References buildFrom().

vpQuaternionVector() [5/7]

vpQuaternionVector::vpQuaternionVector

(

const vpThetaUVector &

tu

)

Constructor that initialize Euler angles vector from a vector.

Parameters

tu	: representation of a rotation used here as input to initialize the Euler angles.

Definition at line 82 of file vpQuaternionVector.cpp.

References buildFrom().

vpQuaternionVector() [6/7]

vpQuaternionVector::vpQuaternionVector

(

const vpColVector &

q

)

Constructor from a 4-dimension vector of doubles.

Definition at line 64 of file vpQuaternionVector.cpp.

References buildFrom().

vpQuaternionVector() [7/7]

vpQuaternionVector::vpQuaternionVector

(

const std::vector< double > &

q

)

Constructor from a 4-dimension vector of doubles.

Definition at line 67 of file vpQuaternionVector.cpp.

References buildFrom().

Member Function Documentation

buildFrom() [1/5]

vpQuaternionVector & vpQuaternionVector::buildFrom	(	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 112 of file vpQuaternionVector.cpp.

References set().

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

buildFrom() [2/5]

vpQuaternionVector & vpQuaternionVector::buildFrom

(

const std::vector< double > &

q

)

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

Definition at line 152 of file vpQuaternionVector.cpp.

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

buildFrom() [3/5]

vpQuaternionVector & vpQuaternionVector::buildFrom

(

const vpColVector &

q

)

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

Definition at line 135 of file vpQuaternionVector.cpp.

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

buildFrom() [4/5]

vpQuaternionVector & vpQuaternionVector::buildFrom

(

const vpRotationMatrix &

R

)

Constructs a quaternion from a rotation matrix.

Parameters

R	: Rotation matrix.

Definition at line 172 of file vpQuaternionVector.cpp.

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

buildFrom() [5/5]

vpQuaternionVector & vpQuaternionVector::buildFrom

(

const vpThetaUVector &

tu

)

Convert a vector into a quaternion.

Parameters

tu	: representation of a rotation used here as input.

Returns

Quaternion vector.

Definition at line 124 of file vpQuaternionVector.cpp.

References buildFrom().

conjugate()

vpQuaternionVector vpQuaternionVector::conjugate

(

)

const

Quaternion conjugate.

Returns

The conjugate quaternion.

Examples

catchQuaternion.cpp.

Definition at line 289 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: .

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 1138 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: .

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 1152 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 337 of file vpQuaternionVector.cpp.

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

Referenced by lerp(), and slerp().

getCols()

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

inlineinherited

Return the number of columns of the 2D array.

See also

getRows(), size()

Examples

catchAprilTag.cpp, catchArray2D.cpp, catchJsonArrayConversion.cpp, catchLuminanceMapping.cpp, catchMatrixCholesky.cpp, catchPoseVector.cpp, catchRotation.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 417 of file vpArray2D.h.

getMaxValue()

double vpArray2D< double >::getMaxValue

inherited

Return the array max value.

Examples

servoMomentImage.cpp.

Definition at line 419 of file vpArray2D.h.

getMinValue()

double vpArray2D< double >::getMinValue

inherited

Return the array min value.

Examples

servoMomentImage.cpp.

Definition at line 421 of file vpArray2D.h.

getRows()

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

inlineinherited

Return the number of rows of the 2D array.

See also

getCols(), size()

Examples

catchAprilTag.cpp, catchArray2D.cpp, catchJsonArrayConversion.cpp, catchLuminanceMapping.cpp, catchMatrixCholesky.cpp, catchParticleFilter.cpp, catchPoseVector.cpp, catchRotation.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, perfColVectorOperations.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 427 of file vpArray2D.h.

hadamard()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< Type > &  m ) const

inherited

Compute the Hadamard product (element wise matrix multiplication).

Parameters

m	: Second matrix;

Returns

m1.hadamard(m2) The Hadamard product :

Definition at line 726 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 1166 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 580 of file vpArray2D.h.

inverse()

vpQuaternionVector vpQuaternionVector::inverse

(

)

const

Quaternion inverse.

Returns

The inverse quaternion.

Examples

catchQuaternion.cpp.

Definition at line 296 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:

• https://github.com/Rajawali/Rajawali/blob/3dd6e09af22de1889241083c1e82ec72ba85bd40/rajawali/src/main/java/org/rajawali3d/math/Quaternion.java#L898-L931
• https://stackoverflow.com/a/46187052

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

catchQuaternion.cpp.

Definition at line 409 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 754 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, tutorial-hsv-segmentation.cpp, visp-compute-eye-in-hand-calibration.cpp, and visp-compute-eye-to-hand-calibration.cpp.

Definition at line 868 of file vpArray2D.h.

magnitude()

double vpQuaternionVector::magnitude

(

)

const

Quaternion magnitude or norm.

Returns

The magnitude or norm of the quaternion.

Definition at line 316 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:

• https://github.com/Rajawali/Rajawali/blob/3dd6e09af22de1889241083c1e82ec72ba85bd40/rajawali/src/main/java/org/rajawali3d/math/Quaternion.java#L898-L931
• https://stackoverflow.com/a/46187052

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

catchQuaternion.cpp.

Definition at line 443 of file vpQuaternionVector.cpp.

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

normalize()

void vpQuaternionVector::normalize

(

)

Normalize the quaternion.

Definition at line 321 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 606 of file vpArray2D.h.

operator*() [1/2]

vpQuaternionVector vpQuaternionVector::operator*

(

const vpQuaternionVector &

rq

)

const

Multiply two quaternions.

Definition at line 225 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 219 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 196 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 vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpThetaUVector tu;
  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 160 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 213 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 207 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 234 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 vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpThetaUVector tu;
  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 126 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>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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 382 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>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpColVector v(4);
  v[0] = 0.1;
  v[1] = 0.2;
  v[2] = 0.3;
  v[3] = 0.4;
  vpQuaternionVector q;
  q = v;
  // q is now equal to v : 0.1, 0.2, 0.3, 0.4
}

Definition at line 268 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 602 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 124 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 129 of file vpRotationVector.h.

reshape()

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

inlineinherited

Examples

testMatrixInitialization.cpp.

Definition at line 539 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

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

Definition at line 442 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 959 of file vpArray2D.h.

saveYAML()

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

inlinestaticinherited

Save an array in a YAML-formatted file.

Parameters

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

Returns

Returns true if success.

Here is an example of outputs.

vpArray2D<double> M(3,4);
vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n    - a YAML-formatted \
header\n    - with inner indentation");

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
data:
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]

Content of matrixIndent.yml:

example:
    - a YAML-formatted header
    - with inner indentation
rows: 3
cols: 4
data:
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]

See also

loadYAML()

Examples

visp-acquire-franka-calib-data.cpp, and visp-acquire-universal-robots-calib-data.cpp.

Definition at line 1057 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

catchQuaternion.cpp, and catchRotation.cpp.

Definition at line 91 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

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

size()

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

inlineinherited

Return the number of elements of the 2D array.

Examples

catchJsonArrayConversion.cpp, catchLuminanceMapping.cpp, catchParticleFilter.cpp, catchPoseVector.cpp, catchRotation.cpp, perfColVectorOperations.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRowVector.cpp, testTranslationVector.cpp, testTukeyEstimator.cpp, testUniversalRobotsGetData.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-pf.cpp, tutorial-ukf.cpp, ukf-nonlinear-complex-example.cpp, and ukf-nonlinear-example.cpp.

Definition at line 429 of file vpArray2D.h.

slerp()

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

static

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

• https://en.wikipedia.org/wiki/Slerp#Quaternion_Slerp
• https://github.com/Rajawali/Rajawali/blob/3dd6e09af22de1889241083c1e82ec72ba85bd40/rajawali/src/main/java/org/rajawali3d/math/Quaternion.java#L850-L896

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

catchQuaternion.cpp.

Definition at line 467 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 of the rotation vector r(m).

Returns

The value

.

Examples

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

Definition at line 179 of file vpRotationVector.cpp.

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

t()

BEGIN_VISP_NAMESPACE vpRowVector vpRotationVector::t ( ) const

inherited

Return the transpose of the rotation vector.

Examples

catchCalibHandEye.cpp, catchEigenConversion.cpp, testMatrixInitialization.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testViper650.cpp, testViper850.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 53 of file vpRotationVector.cpp.

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

Referenced by lerp(), nlerp(), and slerp().

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().

view() [1/3]

static vpArray2D<double > vpArray2D< double >::view ( const vpArray2D< Type > &  A )

inlinestaticinherited

Creates a view of the Matrix A. A view shares the same underlying memory as the original array. It can be written into, modifying the original data. However, the array cannot be resized.

When you use this method, it is your responsibility to ensure that the lifespan of the view does not exceed the lifespan of the original array.

Parameters

A	the array to view

Returns

vpArray2D<T>

Definition at line 323 of file vpArray2D.h.

view() [2/3]

static vpArray2D<double > vpArray2D< double >::view ( Type *  data, unsigned int  numRows, unsigned int  numCols  )

inlinestaticinherited

Create an array view of a raw data pointer. This data is not owned by the resulting array and should be freed after the array is destroyed (not before)

Parameters

data	Pointer to the raw data
numRows	Number of rows
numCols	Number of columns

Returns

vpArray2D<Type>

Definition at line 345 of file vpArray2D.h.

view() [3/3]

static void vpArray2D< double >::view ( vpArray2D< Type > &  v, Type *  data, unsigned int  numRows, unsigned int  numCols  )

inlinestaticinherited

Create an array view of a raw data pointer. After this function has been called, the array data can be modified through the view v. This data is not owned by the resulting array and should be freed after the array is destroyed (not before).

Parameters

v	The resulting view array
data	Pointer to the raw data
numRows	Number of rows
numCols	Number of columns

Definition at line 362 of file vpArray2D.h.

w() [1/2]

double & vpQuaternionVector::w

(

)

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

Definition at line 358 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

w() [2/2]

const double & vpQuaternionVector::w

(

)

const

Returns the w-component of the quaternion.

Examples

catchQuaternion.cpp.

Definition at line 349 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator+(), operator-(), operator/(), vpPanda3DBaseRenderer::setNodePose(), slerp(), and VISP_NAMESPACE_NAME::visp2eigen().

x() [1/2]

double & vpQuaternionVector::x

(

)

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

Definition at line 352 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

x() [2/2]

const double & vpQuaternionVector::x

(

)

const

Returns the x-component of the quaternion.

Examples

catchQuaternion.cpp.

Definition at line 343 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator+(), operator-(), operator/(), vpPanda3DBaseRenderer::setNodePose(), slerp(), and VISP_NAMESPACE_NAME::visp2eigen().

y() [1/2]

double & vpQuaternionVector::y

(

)

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

Definition at line 354 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

y() [2/2]

const double & vpQuaternionVector::y

(

)

const

Returns the y-component of the quaternion.

Examples

catchQuaternion.cpp.

Definition at line 345 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator+(), operator-(), operator/(), vpPanda3DBaseRenderer::setNodePose(), slerp(), and VISP_NAMESPACE_NAME::visp2eigen().

z() [1/2]

double & vpQuaternionVector::z

(

)

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

Definition at line 356 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

z() [2/2]

const double & vpQuaternionVector::z

(

)

const

Returns the z-component of the quaternion.

Examples

catchQuaternion.cpp.

Definition at line 347 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator+(), operator-(), operator/(), vpPanda3DBaseRenderer::setNodePose(), slerp(), and VISP_NAMESPACE_NAME::visp2eigen().

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 1181 of file vpArray2D.h.

operator!=()

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

related

Definition at line 1441 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 195 of file vpRotationVector.cpp.

operator==() [1/2]

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

related

Definition at line 1403 of file vpArray2D.h.

operator==() [2/2]

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

related

Definition at line 1422 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);

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

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 1188 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 1192 of file vpArray2D.h.

isMemoryOwner

bool vpArray2D< double >::isMemoryOwner

protectedinherited

Whether this array owns the memory it points to.

Definition at line 1194 of file vpArray2D.h.

isRowPtrsOwner

bool vpArray2D< double >::isRowPtrsOwner

protectedinherited

Whether this array owns the row pointers.

Definition at line 1196 of file vpArray2D.h.

m_index

unsigned int vpRotationVector::m_index

protectedinherited

Definition at line 159 of file vpRotationVector.h.

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

rowNum

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 1186 of file vpArray2D.h.

rowPtrs

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 1190 of file vpArray2D.h.