Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpRowVector Class Reference

#include <visp3/core/vpRowVector.h>

+ Inheritance diagram for vpRowVector:

Public Member Functions

 vpRowVector ()
 
 vpRowVector (unsigned int n)
 
 vpRowVector (unsigned int n, double val)
 
 vpRowVector (const vpRowVector &v)
 
 vpRowVector (const vpRowVector &v, unsigned int c, unsigned int ncols)
 
 vpRowVector (const vpMatrix &M)
 
 vpRowVector (const vpMatrix &M, unsigned int i)
 
 vpRowVector (const std::vector< double > &v)
 
 vpRowVector (const std::vector< float > &v)
 
 vpRowVector (vpRowVector &&v)
 
 vpRowVector (const std::initializer_list< double > &list)
 
void clear ()
 
std::ostream & cppPrint (std::ostream &os, const std::string &matrixName="A", bool octet=false) const
 
std::ostream & csvPrint (std::ostream &os) const
 
void deg2rad ()
 
vpRowVector extract (unsigned int c, unsigned int rowsize) const
 
double frobeniusNorm () const
 
void init (const vpRowVector &v, unsigned int c, unsigned int ncols)
 
void insert (unsigned int i, const vpRowVector &v)
 
std::ostream & maplePrint (std::ostream &os) const
 
std::ostream & matlabPrint (std::ostream &os) const
 
vpRowVectornormalize ()
 
vpRowVectornormalize (vpRowVector &x) const
 
double & operator[] (unsigned int n)
 
const double & operator[] (unsigned int n) const
 
vpRowVectoroperator= (const vpRowVector &v)
 
vpRowVectoroperator= (const vpMatrix &M)
 
vpRowVectoroperator= (const std::vector< double > &v)
 
vpRowVectoroperator= (const std::vector< float > &v)
 
vpRowVectoroperator= (double x)
 
vpRowVectoroperator= (vpRowVector &&v)
 
vpRowVectoroperator= (const std::initializer_list< double > &list)
 
bool operator== (const vpRowVector &v) const
 
bool operator!= (const vpRowVector &v) const
 
double operator* (const vpColVector &x) const
 
vpRowVector operator* (const vpMatrix &M) const
 
vpRowVector operator* (double x) const
 
vpRowVectoroperator*= (double x)
 
vpRowVector operator/ (double x) const
 
vpRowVectoroperator/= (double x)
 
vpRowVector operator+ (const vpRowVector &v) const
 
vpRowVectoroperator+= (vpRowVector v)
 
vpRowVector operator- (const vpRowVector &v) const
 
vpRowVectoroperator-= (vpRowVector v)
 
vpRowVector operator- () const
 
vpRowVectoroperator<< (const vpRowVector &v)
 
vpRowVectoroperator<< (double val)
 
vpRowVectoroperator, (double val)
 
int print (std::ostream &s, unsigned int length, char const *intro=0) const
 
void rad2deg ()
 
void reshape (vpMatrix &M, const unsigned int &nrows, const unsigned int &ncols)
 
vpMatrix reshape (unsigned int nrows, unsigned int ncols)
 
void resize (unsigned int i, bool flagNullify=true)
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify)
 
void stack (double d)
 
void stack (const vpRowVector &v)
 
double sum () const
 
double sumSquare () const
 
vpColVector t () const
 
std::vector< double > toStdVector () const
 
vpColVector transpose () const
 
void transpose (vpColVector &v) 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 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 mean (const vpRowVector &v)
 
static double median (const vpRowVector &v)
 
static vpRowVector stack (const vpRowVector &A, const vpRowVector &B)
 
static void stack (const vpRowVector &A, const vpRowVector &B, vpRowVector &C)
 
static double stdev (const vpRowVector &v, bool useBesselCorrection=false)
 

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.)

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

Deprecated functions

vp_deprecated void init ()
 
vp_deprecated void stackMatrices (const vpRowVector &r)
 
vp_deprecated void setIdentity (const double &val=1.0)
 
vp_deprecated double euclideanNorm () const
 
static vp_deprecated vpRowVector stackMatrices (const vpRowVector &A, const vpRowVector &B)
 
static vp_deprecated void stackMatrices (const vpRowVector &A, const vpRowVector &B, vpRowVector &C)
 

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 row vector and the associated operations.

This class provides a data structure for a row vector that contains values of double. It contains also some functions to achieve a set of operations on these vectors.

The vpRowVector class is derived from vpArray2D<double>.

The code below shows how to create a 3-element row vector of doubles, set the element values and access them:

#include <visp3/code/vpRowVector.h
int main()
{
vpRowVector v(3);
v[0] = -1; v[1] = -2.1; v[2] = -3;
std::cout << "v:" << std::endl;
for (unsigned int i = 0; i < v.size(); i++) {
std::cout << v[i] << " ";
}
std::cout << std::endl;
}

Once build, this previous code produces the following output:

v:
-1 -2.1 -3

If ViSP is build with c++11 enabled, you can do the same using:

#include <visp3/code/vpRowVector.h
int main()
{
vpRowVector v{-1, -2.1, -3};
std::cout << "v:\n" << v << std::endl;
}

The vector could also be initialized using operator=(const std::initializer_list< double > &)

int main()
{
v = {-1, -2.1, -3};
}
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:107
Examples
testArray2D.cpp, testEigenConversion.cpp, testMatrix.cpp, testMatrixInitialization.cpp, and testRowVector.cpp.

Definition at line 106 of file vpRowVector.h.

Constructor & Destructor Documentation

◆ vpRowVector() [1/11]

vpRowVector::vpRowVector ( )
inline

Basic constructor that creates an empty 0-size row vector.

Definition at line 110 of file vpRowVector.h.

◆ vpRowVector() [2/11]

vpRowVector::vpRowVector ( unsigned int  n)
inlineexplicit

Construct a row vector of size n. All the elements are initialized to zero.

Definition at line 113 of file vpRowVector.h.

◆ vpRowVector() [3/11]

vpRowVector::vpRowVector ( unsigned int  n,
double  val 
)
inline

Construct a row vector of size n. Each element is set to val.

Definition at line 115 of file vpRowVector.h.

◆ vpRowVector() [4/11]

vpRowVector::vpRowVector ( const vpRowVector v)
inline

Copy constructor that allows to construct a row vector from an other one.

Definition at line 118 of file vpRowVector.h.

◆ vpRowVector() [5/11]

vpRowVector::vpRowVector ( const vpRowVector v,
unsigned int  c,
unsigned int  ncols 
)

Construct a row vector from a part of an input row vector v.

Parameters
v: Input row vector used for initialization.
c: column index in v that corresponds to the first element of the row vector to construct.
ncols: Number of columns of the constructed row vector.

The sub-vector starting from v[c] element and ending on v[c+ncols-1] element is used to initialize the constructed row vector.

See also
init()

Definition at line 576 of file vpRowVector.cpp.

References init().

◆ vpRowVector() [6/11]

vpRowVector::vpRowVector ( const vpMatrix M)

Constructor that creates a row vector from a 1-by-n matrix M.

Exceptions
vpException::dimensionErrorIf the matrix is not a 1-by-n matrix.

Definition at line 535 of file vpRowVector.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

◆ vpRowVector() [7/11]

vpRowVector::vpRowVector ( const vpMatrix M,
unsigned int  i 
)

Constructor that creates a row vector corresponding to row i of matrix M.

Definition at line 524 of file vpRowVector.cpp.

References vpArray2D< Type >::getCols().

◆ vpRowVector() [8/11]

vpRowVector::vpRowVector ( const std::vector< double > &  v)

Constructor that creates a row vector from a std vector of double.

Definition at line 549 of file vpRowVector.cpp.

◆ vpRowVector() [9/11]

vpRowVector::vpRowVector ( const std::vector< float > &  v)

Constructor that creates a row vector from a std vector of float.

Definition at line 557 of file vpRowVector.cpp.

◆ vpRowVector() [10/11]

◆ vpRowVector() [11/11]

vpRowVector::vpRowVector ( const std::initializer_list< double > &  list)
inline

Definition at line 126 of file vpRowVector.h.

Member Function Documentation

◆ clear()

void vpRowVector::clear ( )
inline

Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.

Examples
testRowVector.cpp.

Definition at line 133 of file vpRowVector.h.

◆ 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 952 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 966 of file vpArray2D.h.

◆ cppPrint()

std::ostream & vpRowVector::cppPrint ( std::ostream &  os,
const std::string &  matrixName = "A",
bool  octet = false 
) const

Print to be used as part of a C++ code later.

Parameters
os: the stream to be printed in.
matrixName: name of the row vector, "A" by default.
octet: if false, print using double, if true, print byte per byte each bytes of the double array.

The following code shows how to use this function:

#include <visp3/core/vpRowVector.h>
int main()
{
for (unsigned int i=0; i<r.size(); i++)
r[i] = i;
r.cppPrint(std::cout, "r");
}

It produces the following output that could be copy/paste in a C++ code:

r[0] = 0;
r[1] = 1;
r[2] = 2;

Definition at line 1195 of file vpRowVector.cpp.

References vpArray2D< double >::getCols().

◆ csvPrint()

std::ostream & vpRowVector::csvPrint ( std::ostream &  os) const

Print/save a row vector in csv format.

The following code

#include <visp3/core/vpRowVector.h>
int main()
{
std::ofstream ofs("log.csv", std::ofstream::out);
for (unsigned int i=0; i<r.size(); i++)
r[i] = i;
r.csvPrint(ofs);
ofs.close();
}

produces log.csv file that contains:

0, 1, 2

Definition at line 1238 of file vpRowVector.cpp.

References vpArray2D< double >::getCols().

◆ deg2rad()

void vpRowVector::deg2rad ( )
inline

Convert a column vector containing angles in degrees into radians.

See also
rad2deg()

Definition at line 154 of file vpRowVector.h.

◆ euclideanNorm()

double vpRowVector::euclideanNorm ( ) const
Deprecated:
This function is deprecated. You should rather use frobeniusNorm().

Compute and return the Euclidean norm also called Frobenius norm $ ||v|| = \sqrt{ \sum{v_{i}^2}} $.

Returns
The Euclidean norm if the vector is initialized, 0 otherwise.
See also
frobeniusNorm()

Definition at line 1111 of file vpRowVector.cpp.

References frobeniusNorm().

◆ extract()

vpRowVector vpRowVector::extract ( unsigned int  c,
unsigned int  rowsize 
) const
inline

Extract a sub-row vector from a row vector.

Parameters
c: Index of the column corresponding to the first element of the vector to extract.
rowsize: Size of the vector to extract.
Exceptions
vpException::fatalErrorIf the vector to extract is not contained in the original one.
for (unsigned int i=0; i<4; i++)
r1.stack(i);
// r1 is equal to [0 1 2 3]
vpRowVector r2 = r1.extract(1, 3);
// r2 is equal to [1 2 3]
void stack(double d)
vpRowVector extract(unsigned int c, unsigned int rowsize) const
Definition: vpRowVector.h:179
Examples
testRowVector.cpp.

Definition at line 179 of file vpRowVector.h.

References vpException::fatalError.

◆ frobeniusNorm()

double vpRowVector::frobeniusNorm ( ) const

Compute and return the Frobenius norm $ ||v|| = \sqrt{ \sum{v_{i}^2}} $.

Returns
The Frobenius norm if the vector is initialized, 0 otherwise.

Definition at line 1094 of file vpRowVector.cpp.

References sumSquare().

Referenced by euclideanNorm().

◆ getCols()

◆ getMaxValue()

double vpArray2D< double >::getMaxValue
inherited

Return the array max value.

Examples
servoMomentImage.cpp.

Definition at line 276 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue
inherited

Return the array min value.

Examples
servoMomentImage.cpp.

Definition at line 278 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} $

Definition at line 548 of file vpArray2D.h.

◆ init() [1/2]

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

Definition at line 306 of file vpRowVector.h.

Referenced by vpRowVector(), and vpSubRowVector::vpSubRowVector().

◆ init() [2/2]

void vpRowVector::init ( const vpRowVector v,
unsigned int  c,
unsigned int  ncols 
)

Initialize the row vector from a part of an input row vector v.

Parameters
v: Input row vector used for initialization.
c: column index in v that corresponds to the first element of the row vector to construct.
ncols: Number of columns of the constructed row vector.

The sub-vector starting from v[c] element and ending on v[c+ncols-1] element is used to initialize the constructed row vector.

The following code shows how to use this function:

#include <visp3/core/vpRowVector.h>
int main()
{
int val = 0;
for(size_t i=0; i<v.getCols(); i++) {
v[i] = val++;
}
std::cout << "v: " << v << std::endl;
w.init(v, 1, 2);
std::cout << "w: " << w << std::endl;
}
void init(const vpRowVector &v, unsigned int c, unsigned int ncols)

It produces the following output:

v: 0 1 2 3
w: 1 2
Examples
testRowVector.cpp.

Definition at line 1149 of file vpRowVector.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), resize(), and vpArray2D< double >::rowPtrs.

◆ insert() [1/3]

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 980 of file vpArray2D.h.

◆ insert() [2/3]

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 411 of file vpArray2D.h.

◆ insert() [3/3]

void vpRowVector::insert ( unsigned int  i,
const vpRowVector v 
)

Insert a row vector.

Parameters
i: Index of the first element to introduce. This index starts from 0.
v: Row vector to insert.

The following example shows how to use this function:

#include <visp3/core/vpRowVector.h>
int main()
{
for (unsigned int i=0; i < v.size(); i++)
v[i] = i;
std::cout << "v: " << v << std::endl;
for (unsigned int i=0; i < w.size(); i++)
w[i] = i+10;
std::cout << "w: " << w << std::endl;
v.insert(1, w);
std::cout << "v: " << v << std::endl;
}

It produces the following output:

v: 0 1 2 3
w: 10 11
v: 0 10 11 3

Definition at line 743 of file vpRowVector.cpp.

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

◆ 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 576 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, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 690 of file vpArray2D.h.

◆ maplePrint()

std::ostream & vpRowVector::maplePrint ( std::ostream &  os) const

Print using Maple syntax, to copy/paste in Maple later.

The following code

#include <visp3/core/vpRowVector.h>
int main()
{
for (unsigned int i=0; i<r.size(); i++)
r[i] = i;
std::cout << "r = "; r.maplePrint(std::cout);
}

produces this output:

r = ([
[0, 1, 2, ],
])

that could be copy/paste in Maple.

Definition at line 1272 of file vpRowVector.cpp.

References vpArray2D< double >::getCols().

◆ matlabPrint()

std::ostream & vpRowVector::matlabPrint ( std::ostream &  os) const

Print using Matlab syntax, to copy/paste in Matlab later.

The following code

#include <visp3/core/vpRowVector.h>
int main()
{
for (unsigned int i=0; i<r.size(); i++)
r[i] = i;
std::cout << "r = "; r.matlabPrint(std::cout);
}

produces this output:

r = [ 0, 1, 2, ]

that could be copy/paste in Matlab:

>> r = [ 0, 1, 2, ]
r =
0 1 2
>>

Definition at line 1314 of file vpRowVector.cpp.

References vpArray2D< double >::getCols().

◆ mean()

double vpRowVector::mean ( const vpRowVector v)
static

Compute the mean value of all the elements of the vector.

Examples
testRowVector.cpp.

Definition at line 890 of file vpRowVector.cpp.

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

Referenced by stdev().

◆ median()

double vpRowVector::median ( const vpRowVector v)
static

Compute the median value of all the elements of the vector.

Examples
testRowVector.cpp.

Definition at line 907 of file vpRowVector.cpp.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpException::dimensionError, vpMath::getMedian(), and vpArray2D< Type >::size().

◆ normalize() [1/2]

vpRowVector & vpRowVector::normalize ( )

Normalise the vector modifying the vector as:

\[ {\bf x} = \frac{{\bf x}}{\sqrt{\sum_{i=1}^{n}x^2_i}} \]

where $x_i$ is an element of the row vector $\bf x$.

Examples
testRowVector.cpp.

Definition at line 622 of file vpRowVector.cpp.

References sumSquare().

◆ normalize() [2/2]

vpRowVector & vpRowVector::normalize ( vpRowVector x) const

Normalize the vector given as input parameter and return the normalized vector:

\[ {\bf x} = \frac{{\bf x}}{\sqrt{\sum_{i=1}^{n}x^2_i}} \]

where $x_i$ is an element of the row vector $\bf x$.

Definition at line 607 of file vpRowVector.cpp.

References sumSquare().

◆ operator!=() [1/2]

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

Not equal to comparison operator of a 2D array.

Definition at line 436 of file vpArray2D.h.

◆ operator!=() [2/2]

bool vpRowVector::operator!= ( const vpRowVector v) const

Definition at line 187 of file vpRowVector.cpp.

◆ operator*() [1/3]

double vpRowVector::operator* ( const vpColVector x) const

Multiply a row vector by a column vector.

Parameters
x: Column vector.
Warning
The number of elements of the two vectors must be equal.
Exceptions
vpException::dimensionError: If the number of elements of the two vectors is not the same.
Returns
A scalar.

Definition at line 203 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, vpException::dimensionError, vpArray2D< double >::getCols(), and vpArray2D< Type >::getRows().

◆ operator*() [2/3]

vpRowVector vpRowVector::operator* ( const vpMatrix M) const

Multiply a row vector by a matrix.

Parameters
M: Matrix.
Warning
The number of elements of the row vector must be equal to the number of rows of the matrix.
Exceptions
vpException::dimensionErrorIf the number of elements of the row vector is not equal to the number of rows of the matrix.
Returns
The resulting row vector.

Definition at line 233 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::data, vpException::dimensionError, vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

◆ operator*() [3/3]

vpRowVector vpRowVector::operator* ( double  x) const

Operator that allows to multiply each element of a row vector by a scalar.

Parameters
x: The scalar.
Returns
The row vector multiplied by the scalar. The current row vector (*this) is unchanged.
v[0] = 1;
v[1] = 2;
v[2] = 3;
vpRowVector w = v * 3;
// v is unchanged
// w is now equal to : [3 6 9]

Definition at line 273 of file vpRowVector.cpp.

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

◆ operator*=()

vpRowVector & vpRowVector::operator*= ( double  x)

Operator that allows to multiply each element of a row vector by a scalar.

Parameters
x: The scalar.
Returns
The row vector multiplied by the scalar.
v[0] = 1;
v[1] = 2;
v[2] = 3;
v *= 3;
// v is now equal to : [3 6 9]

Definition at line 302 of file vpRowVector.cpp.

References vpArray2D< double >::colNum.

◆ operator+()

vpRowVector vpRowVector::operator+ ( const vpRowVector v) const

Operator that allows to add to row vectors that have the same size.

Exceptions
vpException::dimensionErrorIf the vectors size differ.

Definition at line 410 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, vpException::dimensionError, vpArray2D< Type >::getCols(), and vpArray2D< double >::getCols().

◆ operator+=()

vpRowVector & vpRowVector::operator+= ( vpRowVector  v)

Operator that allows to add two row vectors that have the same size.

Exceptions
vpException::dimensionErrorIf the size of the two vectors differ.

Definition at line 429 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, vpException::dimensionError, vpArray2D< Type >::getCols(), and vpArray2D< double >::getCols().

◆ operator,()

vpRowVector & vpRowVector::operator, ( double  val)

Definition at line 492 of file vpRowVector.cpp.

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

◆ operator-() [1/2]

vpRowVector vpRowVector::operator- ( void  ) const

Operator that allows to negate all the row vector elements.

vpRowVector r(3, 1);
// r contains [1 1 1]
vpRowVector v = -r;
// v contains [-1 -1 -1]

Definition at line 375 of file vpRowVector.cpp.

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

◆ operator-() [2/2]

vpRowVector vpRowVector::operator- ( const vpRowVector m) const

Operator that allows to subtract to row vectors that have the same size.

Exceptions
vpException::dimensionErrorIf the vectors size differ.

Definition at line 392 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, vpException::dimensionError, vpArray2D< Type >::getCols(), and vpArray2D< double >::getCols().

◆ operator-=()

vpRowVector & vpRowVector::operator-= ( vpRowVector  v)

Operator that allows to subtract two row vectors that have the same size.

Exceptions
vpException::dimensionErrorIf the size of the two vectors differ.

Definition at line 446 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, vpException::dimensionError, vpArray2D< Type >::getCols(), and vpArray2D< double >::getCols().

◆ operator/()

vpRowVector vpRowVector::operator/ ( double  x) const

Operator that allows to divide each element of a row vector by a scalar.

Parameters
x: The scalar.
Returns
The row vector divided by the scalar. The current row vector (*this) is unchanged.
v[0] = 8;
v[1] = 4;
v[2] = 2;
vpRowVector w = v / 2;
// v is equal to : [8 4 2]
// w is equal to : [4 2 1]

Definition at line 328 of file vpRowVector.cpp.

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

◆ operator/=()

vpRowVector & vpRowVector::operator/= ( double  x)

Operator that allows to divide each element of a row vector by a scalar.

Parameters
x: The scalar.
Returns
The row vector divided by the scalar.
v[0] = 8;
v[1] = 4;
v[2] = 2;
// v is equal to : [8 4 2]
v /= 2;
// v is equal to : [4 2 1]

Definition at line 358 of file vpRowVector.cpp.

References vpArray2D< double >::colNum.

◆ operator<<() [1/2]

vpRowVector & vpRowVector::operator<< ( const vpRowVector v)

Copy operator. Allows operation such as A << v

#include <visp3/core/vpRowVector.h>
int main()
{
vpRowVector A, B(5);
for (unsigned int i=0; i<B.size(); i++)
B[i] = i;
A << B;
std::cout << "A: " << A << std::endl;
}

In row vector A we get:

A: 0 1 2 3 4

Definition at line 479 of file vpRowVector.cpp.

◆ operator<<() [2/2]

vpRowVector & vpRowVector::operator<< ( double  val)

Definition at line 485 of file vpRowVector.cpp.

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

◆ operator=() [1/7]

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

Set vector elements from a list of double.

#include <visp3/core/vpRowVector.cpp>
int main()
{
r = {1, 2, 3};
std::cout << "r: " << r << std::endl;
}

It produces the following printings:

r: 1 2 3
See also
operator<<()

Definition at line 166 of file vpRowVector.cpp.

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

◆ operator=() [2/7]

vpRowVector & vpRowVector::operator= ( const std::vector< double > &  v)

Initialize a row vector from a standard vector of double.

Definition at line 96 of file vpRowVector.cpp.

References resize().

◆ operator=() [3/7]

vpRowVector & vpRowVector::operator= ( const std::vector< float > &  v)

Initialize a row vector from a standard vector of double.

Definition at line 106 of file vpRowVector.cpp.

References resize().

◆ operator=() [4/7]

vpRowVector & vpRowVector::operator= ( const vpMatrix M)

Initialize a row vector from a 1-by-n size matrix.

Warning
Handled with care m should be a 1 column matrix.
Exceptions
vpException::dimensionErrorIf the matrix is not a 1-by-n dimension matrix.

Definition at line 79 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::data, vpArray2D< Type >::data, vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and resize().

◆ operator=() [5/7]

vpRowVector & vpRowVector::operator= ( const vpRowVector v)

Copy operator. Allow operation such as A = v.

Definition at line 55 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< double >::data, and resize().

◆ operator=() [6/7]

vpRowVector & vpRowVector::operator= ( double  x)

Initialize each element of the vector with x.

Definition at line 115 of file vpRowVector.cpp.

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

◆ operator=() [7/7]

◆ operator==() [1/2]

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

Equal to comparison operator of a 2D array.

Definition at line 432 of file vpArray2D.h.

◆ operator==() [2/2]

bool vpRowVector::operator== ( const vpRowVector v) const

◆ operator[]() [1/2]

double& vpRowVector::operator[] ( unsigned int  n)
inline

Operator that allows to set a value of an element $v_i$: v[i] = x.

Definition at line 202 of file vpRowVector.h.

◆ operator[]() [2/2]

const double& vpRowVector::operator[] ( unsigned int  n) const
inline

Operator that allows to get the value of an element $v_i$: x = v[i].

Definition at line 204 of file vpRowVector.h.

◆ print()

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

Pretty print a row 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 row 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)
Examples
testRowVector.cpp.

Definition at line 960 of file vpRowVector.cpp.

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

◆ rad2deg()

void vpRowVector::rad2deg ( )
inline

Convert a column vector containing angles in radians into degrees.

See also
deg2rad()

Definition at line 244 of file vpRowVector.h.

◆ reshape() [1/2]

vpMatrix vpRowVector::reshape ( unsigned int  nrows,
unsigned int  ncols 
)

Reshape the row vector in a matrix.

Parameters
nrows: number of rows of the matrix.
ncols: number of columns of the matrix.
Returns
The resulting matrix.
Exceptions
vpException::dimensionErrorIf the matrix and the row vector have not the same size.
See also
reshape(vpMatrix &, const unsigned int &, const unsigned int &)

Definition at line 644 of file vpRowVector.cpp.

References reshape().

◆ reshape() [2/2]

void vpRowVector::reshape ( vpMatrix M,
const unsigned int &  nrows,
const unsigned int &  ncols 
)

Reshape the row vector in a matrix.

Parameters
M: the reshaped matrix.
nrows: number of rows of the matrix.
ncols: number of columns of the matrix.
Exceptions
vpException::dimensionErrorIf the matrix and the row vector have not the same size.

The following example shows how to use this method.

#include <visp3/core/vpRowVector.h>
int main()
{
int var=0;
vpMatrix mat(3, 4);
for (int i = 0; i < 3; i++)
for (int j = 0; j < 4; j++)
mat[i][j] = ++var;
std::cout << "mat: \n" << mat << std::endl;
vpRowVector row = mat.stackRows();
std::cout << "row vector: " << row << std::endl;
vpMatrix remat = row.reshape(3, 4);
std::cout << "remat: \n" << remat << std::endl;
}
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
void reshape(vpMatrix &M, const unsigned int &nrows, const unsigned int &ncols)

If you run the previous example, you get:

mat:
1 2 3 4
5 6 7 8
9 10 11 12
row vector: 1 2 3 4 5 6 7 8 9 10 11 12
remat:
1 2 3 4
5 6 7 8
9 10 11 12
Examples
testMatrixInitialization.cpp.

Definition at line 694 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::data, vpException::dimensionError, vpArray2D< double >::dsize, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and vpArray2D< Type >::resize().

Referenced by reshape().

◆ resize() [1/3]

void vpRowVector::resize ( unsigned int  i,
bool  flagNullify = true 
)
inline

Modify the size of the row vector.

Parameters
i: Size of the vector. This value corresponds to the vector number of columns.
flagNullify: If true, set the data to zero.
Examples
testMatrix.cpp, testMatrixInitialization.cpp, and testRowVector.cpp.

Definition at line 259 of file vpRowVector.h.

References vpArray2D< Type >::resize().

Referenced by vpImageTools::columnMean(), vp::eigen2visp(), init(), operator,(), operator<<(), operator=(), stack(), vpMatrix::stackRows(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), and vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

◆ resize() [2/3]

void vpRowVector::resize ( unsigned int  nrows,
unsigned int  ncols,
bool  flagNullify 
)
inline

Resize the row vector to a ncols-dimension vector. This function can only be used with nrows = 1.

Parameters
nrows: Vector number of rows. This value should be set to 1.
ncols: Vector number of columns. This value corresponds to the size of the vector.
flagNullify: If true, set the data to zero.
Exceptions
vpException::fatalErrorWhen nrows is not equal to 1.

Definition at line 271 of file vpRowVector.h.

References vpException::fatalError, and vpArray2D< Type >::resize().

◆ resize() [3/3]

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 299 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 778 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:873

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:138

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 873 of file vpArray2D.h.

◆ setIdentity()

vp_deprecated void vpRowVector::setIdentity ( const double &  val = 1.0)
Deprecated:
You should rather use eye()

◆ size()

◆ stack() [1/4]

vpRowVector vpRowVector::stack ( const vpRowVector A,
const vpRowVector B 
)
static

Stack row vectors.

Parameters
A: Initial vector.
B: Vector to stack at the end of A.
Returns
Stacked vector $[A B]$.
vpRowVector r1(3, 1);
// r1 is equal to [1 1 1]
vpRowVector r2(2, 3);
// r2 is equal to [3 3]
v = vpRowVector::stack(r1, r2);
// v is equal to [1 1 1 3 3]
See also
stack(const vpRowVector &)
stack(const vpRowVector &, const vpRowVector &, vpRowVector &)

Definition at line 830 of file vpRowVector.cpp.

References stack().

◆ stack() [2/4]

void vpRowVector::stack ( const vpRowVector A,
const vpRowVector B,
vpRowVector C 
)
static

Stack row vectors.

Parameters
A: Initial vector.
B: Vector to stack at the end of A.
C: Resulting stacked vector $C = [A B]$.
vpRowVector r1(3, 1);
// r1 is equal to [1 1 1]
vpRowVector r2(2, 3);
// r2 is equal to [3 3]
vpRowVector::stack(r1, r2, v);
// v is equal to [1 1 1 3 3]
See also
stack(const vpRowVector &)
stack(const vpRowVector &, const vpRowVector &)

Definition at line 857 of file vpRowVector.cpp.

References vpArray2D< Type >::getCols(), and resize().

◆ stack() [3/4]

void vpRowVector::stack ( const vpRowVector v)

Stack row vectors.

Parameters
v: Vector to stack to the existing one.
vpRowVector v1(3, 1);
// v1 is equal to [1 1 1]
vpRowVector v2(2, 3);
// v2 is equal to [3 3]
v1.stack(v2);
// v1 is equal to [1 1 1 3 3]
See also
stack(const vpRowVector &, const double &)
stack(const vpRowVector &, const vpRowVector &)
stack(const vpRowVector &, const vpRowVector &, vpRowVector &)

Definition at line 808 of file vpRowVector.cpp.

References stack().

◆ stack() [4/4]

void vpRowVector::stack ( double  d)

Stack row vector with a new element at the end of the vector.

Parameters
d: Element to stack to the existing one.
vpRowVector v(3, 1);
// v is equal to [1 1 1]
v.stack(-2);
// v is equal to [1 1 1 -2]
See also
stack(const vpRowVector &, const vpRowVector &)
stack(const vpRowVector &, const vpRowVector &, vpRowVector &)
Examples
testRowVector.cpp.

Definition at line 783 of file vpRowVector.cpp.

References vpArray2D< double >::colNum, and resize().

Referenced by stack().

◆ stackMatrices() [1/3]

static vp_deprecated vpRowVector vpRowVector::stackMatrices ( const vpRowVector A,
const vpRowVector B 
)
inlinestatic
Deprecated:
You should rather use stack(const vpRowVector &A, const vpRowVector &B)

Definition at line 315 of file vpRowVector.h.

◆ stackMatrices() [2/3]

static vp_deprecated void vpRowVector::stackMatrices ( const vpRowVector A,
const vpRowVector B,
vpRowVector C 
)
inlinestatic
Deprecated:
You should rather use stack(const vpRowVector &A, const vpRowVector &B, vpRowVector &C)

Definition at line 320 of file vpRowVector.h.

◆ stackMatrices() [3/3]

vp_deprecated void vpRowVector::stackMatrices ( const vpRowVector r)
inline
Deprecated:
You should rather use stack(const vpRowVector &)

Definition at line 310 of file vpRowVector.h.

◆ stdev()

double vpRowVector::stdev ( const vpRowVector v,
bool  useBesselCorrection = false 
)
static

Compute the standard deviation value of all the elements of the vector.

Examples
testRowVector.cpp.

Definition at line 921 of file vpRowVector.cpp.

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

◆ sum()

double vpRowVector::sum ( ) const

Return the sum of all the elements $v_{i}$ of the row vector v(n).

Returns
The sum square value: $\sum_{j=0}^{n} v_j$.

Definition at line 1060 of file vpRowVector.cpp.

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

◆ sumSquare()

double vpRowVector::sumSquare ( ) const

Return the sum square of all the elements $v_{i}$ of the row vector v(n).

Returns
The sum square value: $\sum_{j=0}^{n} v_j^{2}$.

Definition at line 1077 of file vpRowVector.cpp.

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

Referenced by frobeniusNorm(), and normalize().

◆ t()

vpColVector vpRowVector::t ( ) const

Transpose the row vector. The resulting vector becomes a column vector.

Examples
servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp.

Definition at line 502 of file vpRowVector.cpp.

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

Referenced by transpose().

◆ toStdVector()

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

Converts the vpRowVector to a std::vector.

Returns
The corresponding std::vector<double>.
Examples
testRowVector.cpp.

Definition at line 758 of file vpRowVector.cpp.

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

◆ transpose() [1/2]

vpColVector vpRowVector::transpose ( ) const

Transpose the row vector. The resulting vector becomes a column vector.

See also
t()

Definition at line 513 of file vpRowVector.cpp.

References t().

◆ transpose() [2/2]

void vpRowVector::transpose ( vpColVector v) const

Transpose the row vector. The resulting vector v becomes a column vector.

See also
t()

Definition at line 518 of file vpRowVector.cpp.

References t().

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 995 of file vpArray2D.h.

◆ operator==() [1/2]

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

Definition at line 1187 of file vpArray2D.h.

◆ operator==() [2/2]

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

Definition at line 1205 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:388

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 388 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 130 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 134 of file vpArray2D.h.

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 128 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 132 of file vpArray2D.h.