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Visual Servoing Platform
version 3.5.1 under development (2023-06-06)
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#include <visp3/core/vpRotationVector.h>
Public Member Functions | |
vpRotationVector () | |
vpRotationVector (unsigned int n) | |
vpRotationVector (const vpRotationVector &v) | |
virtual | ~vpRotationVector () |
bool | operator== (const vpArray2D< float > &A) const |
Inherited functionalities from vpArray2D | |
unsigned int | getCols () const |
double | getMaxValue () const |
double | getMinValue () const |
unsigned int | getRows () const |
unsigned int | size () const |
void | resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true) |
void | reshape (unsigned int nrows, unsigned int ncols) |
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 | |
Inherited I/O from vpArray2D with Static Public Member Functions | |
static bool | load (const std::string &filename, vpArray2D< double > &A, bool binary=false, char *header=NULL) |
static bool | loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=NULL) |
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="") |
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 |
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 | |
unsigned int | m_index |
double & | operator[] (unsigned int i) |
const double & | operator[] (unsigned int i) const |
vpRotationVector & | operator= (const vpRotationVector &v) |
vpColVector | operator* (double x) const |
vpRotationVector & | operator<< (double val) |
vpRotationVector & | operator, (double val) |
double | sumSquare () const |
vpRowVector | t () const |
std::vector< double > | toStdVector () const |
Implementation of a generic rotation vector.
Class that consider the case of a generic rotation vector (cannot be used as is !) consisting in three or four angles.
The vpRotationVector class is derived from vpArray2D<double>. The vpRotationVector class is also the base class of specific rotations vectors such as vpThetaUVector, vpRxyzVector, vpRzyxVector, vpRzyzVector and vpQuaternionVector.
The code below shows how this class can be used to manipulate a vpRxyzVector.
Definition at line 100 of file vpRotationVector.h.
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inline |
Constructor that constructs a 0-size rotation vector.
Definition at line 104 of file vpRotationVector.h.
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inlineexplicit |
Constructor that constructs a vector of size n and initialize all values to zero.
Definition at line 108 of file vpRotationVector.h.
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inline |
Copy operator.
Definition at line 113 of file vpRotationVector.h.
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inlinevirtual |
Destructor.
Definition at line 118 of file vpRotationVector.h.
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inlineinherited |
Return the number of columns of the 2D array.
Definition at line 282 of file vpArray2D.h.
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inherited |
Return the array max value.
Definition at line 284 of file vpArray2D.h.
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inherited |
Return the array min value.
Definition at line 286 of file vpArray2D.h.
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inlineinherited |
Return the number of rows of the 2D array.
Definition at line 292 of file vpArray2D.h.
Compute the Hadamard product (element wise matrix multiplication).
m | : Second matrix; |
Definition at line 524 of file vpArray2D.h.
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inlinestaticinherited |
Load a matrix from a file.
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. |
Definition at line 546 of file vpArray2D.h.
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inlinestaticinherited |
Load an array from a YAML-formatted file.
filename | : absolute file name. |
A | : array to be loaded from the file. |
header | : header of the file is loaded in this parameter. |
Definition at line 657 of file vpArray2D.h.
Not equal to comparison operator of a 2D array.
Definition at line 412 of file vpArray2D.h.
vpColVector vpRotationVector::operator* | ( | double | x | ) | const |
Operator that allows to multiply each element of a rotation vector by a scalar.
x | : The scalar. |
Definition at line 89 of file vpRotationVector.cpp.
References vpArray2D< double >::dsize.
vpRotationVector & vpRotationVector::operator, | ( | double | val | ) |
Set vector second and third element values.
val | : Value of the vector element [rad]. |
The following example shows how to initialize a vector from a list of 3 values [rad].
It produces the following printings:
Definition at line 162 of file vpRotationVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, m_index, and vpArray2D< double >::size().
vpRotationVector & vpRotationVector::operator<< | ( | double | val | ) |
Set vector first element value.
val | : Value of the vector first element [rad]. |
The following example shows how to initialize a vector from a list of 3 values [rad].
It produces the following printings:
Definition at line 132 of file vpRotationVector.cpp.
References vpArray2D< double >::data, and m_index.
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inline |
Affectation of two vectors.
Definition at line 137 of file vpRotationVector.h.
References vpArray2D< Type >::data, vpArray2D< Type >::resize(), and vpArray2D< Type >::size().
Equal to comparison operator of a 2D array.
Definition at line 408 of file vpArray2D.h.
Definition at line 990 of file vpArray2D.h.
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inline |
Operator that allows to set the value of an element of the rotation vector: r[i] = value
Definition at line 127 of file vpRotationVector.h.
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inline |
Operator that allows to get the value of an element of the rotation vector: value = r[i]
Definition at line 132 of file vpRotationVector.h.
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inlineinherited |
Definition at line 382 of file vpArray2D.h.
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inlineinherited |
Set the size of the array and initialize all the values to zero.
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. |
Definition at line 307 of file vpArray2D.h.
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inlinestaticinherited |
Save a matrix to a file.
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. |
Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.
Definition at line 741 of file vpArray2D.h.
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inlinestaticinherited |
Save an array in a YAML-formatted file.
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. |
Here is an example of outputs.
Content of matrix.yml:
Content of matrixIndent.yml:
Definition at line 832 of file vpArray2D.h.
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inlineinherited |
Return the number of elements of the 2D array.
Definition at line 294 of file vpArray2D.h.
double vpRotationVector::sumSquare | ( | ) | const |
Return the sum square of all the elements of the rotation vector r(m).
Definition at line 181 of file vpRotationVector.cpp.
References vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.
vpRowVector vpRotationVector::t | ( | ) | const |
Return the transpose of the rotation vector.
Definition at line 56 of file vpRotationVector.cpp.
References vpArray2D< double >::data, and vpArray2D< double >::dsize.
Referenced by vpQuaternionVector::lerp(), vpQuaternionVector::nlerp(), and vpQuaternionVector::slerp().
std::vector< double > vpRotationVector::toStdVector | ( | ) | const |
Converts the vpRotationVector to a std::vector.
Definition at line 70 of file vpRotationVector.cpp.
References vpArray2D< double >::data, and vpArray2D< double >::size().
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related |
Allows to multiply a scalar by rotaion vector.
Definition at line 102 of file vpRotationVector.cpp.
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related |
Definition at line 975 of file vpArray2D.h.
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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 :
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:
vpException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the operations. |
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. |
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related |
Enumeration of the operations applied on matrices in vpGEMM() function.
Operations are :
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protectedinherited |
Number of columns in the array.
Definition at line 138 of file vpArray2D.h.
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inherited |
Address of the first element of the data array.
Definition at line 146 of file vpArray2D.h.
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protectedinherited |
Current array size (rowNum * colNum)
Definition at line 142 of file vpArray2D.h.
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protected |
Definition at line 161 of file vpRotationVector.h.
Referenced by operator,(), and operator<<().
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protectedinherited |
Number of rows in the array.
Definition at line 136 of file vpArray2D.h.
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protectedinherited |
Address of the first element of each rows.
Definition at line 140 of file vpArray2D.h.