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Visual Servoing Platform
version 3.6.1 under development (2025-02-18)
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#include <visp3/core/vpRzyxVector.h>
Public Member Functions | |
vpRzyxVector () | |
vpRzyxVector (const vpRzyxVector &rzyx) | |
vpRzyxVector (double phi, double theta, double psi) | |
VP_EXPLICIT | vpRzyxVector (const vpRotationMatrix &R) |
VP_EXPLICIT | vpRzyxVector (const vpThetaUVector &tu) |
VP_EXPLICIT | vpRzyxVector (const vpColVector &rzyx) |
VP_EXPLICIT | vpRzyxVector (const std::vector< double > &rzyx) |
vpRzyxVector & | buildFrom (const vpRotationMatrix &R) |
vpRzyxVector & | buildFrom (const vpThetaUVector &R) |
vpRzyxVector & | buildFrom (const vpColVector &rxyz) |
vpRzyxVector & | buildFrom (const std::vector< double > &rxyz) |
vpRzyxVector & | buildFrom (const double &phi, const double &theta, const double &psi) |
vpRzyxVector & | operator= (const vpColVector &rzyx) |
vpRzyxVector & | operator= (double x) |
vpRzyxVector & | operator= (const vpRzyxVector &)=default |
vpRzyxVector & | operator= (const std::initializer_list< double > &list) |
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 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 |
vpColVector | operator* (double x) 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) |
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) |
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) |
Implementation of a rotation vector as Euler angle minimal representation.
Class that consider the case of the Euler angle using the z-y-x convention, where
are respectively the rotation angles around the
,
and
axis.
with
The rotation matrix corresponding to the z-y-x convention is given by:
The vpRzyxVector class is derived from vpRotationVector.
From the implementation point of view, it is nothing more than an array of three doubles with values in [rad].
You can set values [rad] accessing each element:
You can also initialize the vector using operator<<(double):
Or you can also initialize the vector from a list of doubles if ViSP is build with c++11 enabled:
To get the values [rad] use:
The code below shows first how to initialize this representation of Euler angles, than how to construct a rotation matrix from a vpRzyxVector and finally how to extract the vpRzyxVector Euler angles from the build rotation matrix.
Definition at line 183 of file vpRzyxVector.h.
vpRzyxVector::vpRzyxVector | ( | ) |
Default constructor that initialize all the 3 angles to zero.
Definition at line 48 of file vpRzyxVector.cpp.
vpRzyxVector::vpRzyxVector | ( | const vpRzyxVector & | rzyx | ) |
Copy constructor.
Definition at line 51 of file vpRzyxVector.cpp.
vpRzyxVector::vpRzyxVector | ( | double | phi, |
double | theta, | ||
double | psi | ||
) |
Constructor from 3 angles (in radian).
phi | : ![]() ![]() |
theta | : ![]() ![]() |
psi | : ![]() ![]() |
Definition at line 59 of file vpRzyxVector.cpp.
References buildFrom().
vpRzyxVector::vpRzyxVector | ( | const vpRotationMatrix & | R | ) |
Constructor that initialize Euler angles from a rotation matrix.
R | : Rotation matrix used to initialize the Euler angles. |
Definition at line 66 of file vpRzyxVector.cpp.
References buildFrom().
vpRzyxVector::vpRzyxVector | ( | const vpThetaUVector & | tu | ) |
Constructor that initialize Euler angles vector from a
vector.
tu | : ![]() |
Definition at line 74 of file vpRzyxVector.cpp.
References buildFrom().
vpRzyxVector::vpRzyxVector | ( | const vpColVector & | rzyx | ) |
Copy constructor from a 3-dimension vector.
Definition at line 77 of file vpRzyxVector.cpp.
References buildFrom().
vpRzyxVector::vpRzyxVector | ( | const std::vector< double > & | rzyx | ) |
Copy constructor from a 3-dimension vector.
Definition at line 80 of file vpRzyxVector.cpp.
References buildFrom().
vpRzyxVector & vpRzyxVector::buildFrom | ( | const double & | phi, |
const double & | theta, | ||
const double & | psi | ||
) |
Construction from 3 angles (in radian).
phi | : ![]() ![]() |
theta | : ![]() ![]() |
psi | : ![]() ![]() |
Definition at line 148 of file vpRzyxVector.cpp.
References vpArray2D< double >::data.
vpRzyxVector & vpRzyxVector::buildFrom | ( | const std::vector< double > & | rzyx | ) |
Construct a Euler angles vector from a 3-dim vector.
Definition at line 179 of file vpRzyxVector.cpp.
References vpArray2D< double >::data, and vpException::dimensionError.
vpRzyxVector & vpRzyxVector::buildFrom | ( | const vpColVector & | rzyx | ) |
Construct a Euler angles vector from a 3-dim vector.
Definition at line 162 of file vpRzyxVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, and vpArray2D< Type >::size().
vpRzyxVector & vpRzyxVector::buildFrom | ( | const vpRotationMatrix & | R | ) |
Convert a rotation matrix into a Euler angles vector.
Source: R. Paul, Robot Manipulators: Mathematics, Programming, and Control. MIT Press, 1981, p. 71
R | : Rotation matrix used as input. |
Definition at line 92 of file vpRzyxVector.cpp.
Referenced by buildFrom(), and vpRzyxVector().
vpRzyxVector & vpRzyxVector::buildFrom | ( | const vpThetaUVector & | tu | ) |
Convert a vector into a
Euler angles vector.
tu | : ![]() |
Definition at line 133 of file vpRzyxVector.cpp.
References vpRotationMatrix::buildFrom(), and buildFrom().
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staticinherited |
Perform a 2D convolution similar to Matlab conv2 function: .
M | : First matrix. |
kernel | : Second matrix. |
mode | : Convolution mode: "full" (default), "same", "valid". |
Definition at line 1138 of file vpArray2D.h.
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staticinherited |
Perform a 2D convolution similar to Matlab conv2 function: .
M | : First array. |
kernel | : Second array. |
res | : Result. |
mode | : Convolution mode: "full" (default), "same", "valid". |
Definition at line 1152 of file vpArray2D.h.
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inlineinherited |
Return the number of columns of the 2D array.
Definition at line 417 of file vpArray2D.h.
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inherited |
Return the array max value.
Definition at line 419 of file vpArray2D.h.
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inherited |
Return the array min value.
Definition at line 421 of file vpArray2D.h.
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inlineinherited |
Return the number of rows of the 2D array.
Definition at line 427 of file vpArray2D.h.
Compute the Hadamard product (element wise matrix multiplication).
m | : Second matrix; |
Definition at line 726 of file vpArray2D.h.
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inherited |
Insert array B in array A at the given position.
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. |
Definition at line 1166 of file vpArray2D.h.
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inlineinherited |
Insert array A at the given position in the current array.
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.
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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 754 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 868 of file vpArray2D.h.
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inherited |
Not equal to comparison operator of a 2D array.
Definition at line 606 of file vpArray2D.h.
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inherited |
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.
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inherited |
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 160 of file vpRotationVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, vpRotationVector::m_index, and vpArray2D< double >::size().
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inherited |
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 126 of file vpRotationVector.cpp.
References vpArray2D< double >::data, and vpRotationVector::m_index.
vpRzyxVector & vpRzyxVector::operator= | ( | const std::initializer_list< double > & | list | ) |
Set vector from a list of 3 double angle values in radians.
It produces the following printings:
Definition at line 287 of file vpRzyxVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, and vpArray2D< double >::size().
vpRzyxVector & vpRzyxVector::operator= | ( | const vpColVector & | rzyx | ) |
Copy operator that initializes a Euler angles vector from a 3-dimension column vector.
rzyx | : 3-dimension vector containing the values of the rotation vector. |
Definition at line 251 of file vpRzyxVector.cpp.
References vpArray2D< double >::data, vpException::dimensionError, and vpArray2D< Type >::size().
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default |
vpRzyxVector & vpRzyxVector::operator= | ( | double | v | ) |
Initialize each element of the vector to the same angle value v.
v | : Angle value to set for each element of the vector. |
Definition at line 216 of file vpRzyxVector.cpp.
References vpArray2D< double >::data, and vpArray2D< double >::dsize.
Equal to comparison operator of a 2D array.
Definition at line 602 of file vpArray2D.h.
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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.
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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.
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inlineinherited |
Definition at line 539 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 442 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 959 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 1057 of file vpArray2D.h.
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inlineinherited |
Return the number of elements of the 2D array.
Definition at line 429 of file vpArray2D.h.
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inherited |
Return the sum square of all the elements of the rotation vector r(m).
Definition at line 179 of file vpRotationVector.cpp.
References vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.
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inherited |
Return the transpose of the rotation vector.
Definition at line 53 of file vpRotationVector.cpp.
References vpArray2D< double >::data, and vpArray2D< double >::dsize.
Referenced by vpQuaternionVector::lerp(), vpQuaternionVector::nlerp(), and vpQuaternionVector::slerp().
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inherited |
Converts the vpRotationVector to a std::vector.
Definition at line 68 of file vpRotationVector.cpp.
References vpArray2D< double >::data, and vpArray2D< double >::size().
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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.
A | the array to view |
Definition at line 323 of file vpArray2D.h.
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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)
data | Pointer to the raw data |
numRows | Number of rows |
numCols | Number of columns |
Definition at line 345 of file vpArray2D.h.
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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).
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.
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related |
Insert array B in array A at the given position.
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. |
Definition at line 1181 of file vpArray2D.h.
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related |
Definition at line 1441 of file vpArray2D.h.
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related |
Allows to multiply a scalar by rotaion vector.
Definition at line 195 of file vpRotationVector.cpp.
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related |
Definition at line 1403 of file vpArray2D.h.
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related |
Definition at line 1422 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 1188 of file vpArray2D.h.
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inherited |
Address of the first element of the data array.
Definition at line 148 of file vpArray2D.h.
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protectedinherited |
Current array size (rowNum * colNum)
Definition at line 1192 of file vpArray2D.h.
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protectedinherited |
Whether this array owns the memory it points to.
Definition at line 1194 of file vpArray2D.h.
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protectedinherited |
Whether this array owns the row pointers.
Definition at line 1196 of file vpArray2D.h.
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protectedinherited |
Definition at line 159 of file vpRotationVector.h.
Referenced by vpRotationVector::operator,(), and vpRotationVector::operator<<().
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protectedinherited |
Number of rows in the array.
Definition at line 1186 of file vpArray2D.h.
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protectedinherited |
Address of the first element of each rows.
Definition at line 1190 of file vpArray2D.h.