Visual Servoing Platform  version 3.6.1 under development (2024-04-23)
vpRzyzVector Class Reference

#include <visp3/core/vpRzyzVector.h>

+ Inheritance diagram for vpRzyzVector:

Public Member Functions

 vpRzyzVector ()
 
 vpRzyzVector (const vpRzyzVector &rzyz)
 
 vpRzyzVector (const vpRotationMatrix &R)
 
 vpRzyzVector (const vpThetaUVector &tu)
 
 vpRzyzVector (double phi, double theta, double psi)
 
 vpRzyzVector (const vpColVector &rzyz)
 
 vpRzyzVector (const std::vector< double > &rzyz)
 
vpRzyzVector buildFrom (const vpRotationMatrix &R)
 
vpRzyzVector buildFrom (const vpThetaUVector &R)
 
vpRzyzVector buildFrom (const vpColVector &rxyz)
 
vpRzyzVector buildFrom (const std::vector< double > &rxyz)
 
void buildFrom (double phi, double theta, double psi)
 
vpRzyzVectoroperator= (const vpColVector &rzyz)
 
vpRzyzVectoroperator= (double x)
 
vpRzyzVectoroperator= (const vpRzyzVector &)=default
 
vpRzyzVectoroperator= (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
 

Public Attributes

double * data
 

Protected Attributes

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

Related Functions

(Note that these are not member functions.)

vpColVector operator* (const double &x, const vpRotationVector &v)
 
enum  vpGEMMmethod
 
bool operator== (const vpArray2D< double > &A) const
 
bool operator== (const vpArray2D< float > &A) const
 
bool operator!= (const vpArray2D< double > &A) const
 
void vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)
 

Inherited functionalities from vpRotationVector

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

Inherited I/O from vpArray2D with Static Public Member Functions

vpArray2D< double > insert (const vpArray2D< double > &A, const vpArray2D< double > &B, unsigned int r, unsigned int c)
 
static 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)
 

Detailed Description

Implementation of a rotation vector as $R(z,y,z)$ Euler angle minimal representation.

Class that consider the case of the Euler $(\varphi,\theta,\psi)$ angles using the z-y-z convention, where $(\varphi,\theta,\psi)$ are respectively the rotation angles around the $z$, $y$ and $z$ axis.

\[R_{zyz}(\varphi,\theta,\psi) = R_z(\varphi) \; R_y(\theta) \; R_z(\psi)\]

with

\[ R_{z}(\varphi) = \left( \begin{array}{ccc} \cos \varphi & -\sin\varphi & 0\\ \sin\varphi &\cos \varphi& 0 \\ 0 & 0 & 1 \end{array} \right) \; R_{y}(\theta) = \left( \begin{array}{ccc} \cos \theta & 0 & \sin\theta\\ 0 & 1 & 0 \\ -\sin\theta & 0 &\cos \theta \end{array} \right) \; R_{z}(\psi) = \left( \begin{array}{ccc} \cos \psi & -\sin\psi & 0\\ \sin\psi &\cos \psi& 0 \\ 0 & 0 & 1 \end{array} \right) \]

The rotation matrix corresponding to the z-y-z convention is given by:

\[ R_{zyz}(\varphi,\theta,\psi) = \left( \begin{array}{ccc} \cos\varphi \cos\theta \cos\psi - \sin\varphi\sin\psi & -\cos\varphi \cos\theta \sin\psi -\sin\varphi\cos\psi & \cos\varphi \sin\theta \\ \sin\varphi \cos\theta \cos\psi + \cos\varphi\sin\psi & -\sin\varphi \cos\theta \sin\psi +\cos\varphi\cos\psi & \sin\varphi \sin\theta \\ -\sin\theta \cos\psi & \sin\theta \sin\psi & \cos\theta \end{array} \right) \]

The vpRzyzVector 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:

rzyz[0] = M_PI_4;
rzyz[1] = M_PI_2;
rzyz[2] = M_PI;
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:175

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

rzyz << M_PI_4, M_PI_2, M_PI;

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

rzyz = {M_PI_4, M_PI_2, M_PI};

To get the values [rad] use:

double r1 = rzyz[0];
double r2 = rzyz[1];
double r3 = rzyz[2];

The code below shows first how to initialize this representation of Euler angles, than how to construct a rotation matrix from a vpRzyzVector and finally how to extract the vpRzyzVector Euler angles from the build rotation matrix.

#include <visp3/core/vpMath.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRzyzVector.h>
int main()
{
// Initialise the Euler angles
rzyz[0] = vpMath::rad( 45.f); // phi angle in rad/s around z axis
rzyz[1] = vpMath::rad(-30.f); // theta angle in rad/s around y axis
rzyz[2] = vpMath::rad( 90.f); // psi angle in rad/s around z axis
// Construct a rotation matrix from the Euler angles
// Extract the Euler angles around z,y,z axis from a rotation matrix
rzyz.buildFrom(R);
// Print the extracted Euler angles. Values are the same than the
// one used for initialization
std::cout << rzyz;
// Since the rotation vector is 3 values column vector, the
// transpose operation produce a row vector.
vpRowVector rzyz_t = rzyz.t();
// Print the transpose row vector
std::cout << rzyz_t << std::endl;
}
static double rad(double deg)
Definition: vpMath.h:127
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:107
vpColVector t() const
vpRzyzVector buildFrom(const vpRotationMatrix &R)
Examples
testMatrixInitialization.cpp, testRobotViper850.cpp, testRotation.cpp, testViper650.cpp, and testViper850.cpp.

Definition at line 174 of file vpRzyzVector.h.

Constructor & Destructor Documentation

◆ vpRzyzVector() [1/7]

vpRzyzVector::vpRzyzVector ( )

Default constructor that initialize all the 3 angles to zero.

Definition at line 46 of file vpRzyzVector.cpp.

◆ vpRzyzVector() [2/7]

vpRzyzVector::vpRzyzVector ( const vpRzyzVector rzyz)

Copy constructor.

Definition at line 48 of file vpRzyzVector.cpp.

◆ vpRzyzVector() [3/7]

vpRzyzVector::vpRzyzVector ( const vpRotationMatrix R)
explicit

Constructor that initialize $R_{zyz}=(\varphi,\theta,\psi)$ Euler angles from a rotation matrix.

Parameters
R: Rotation matrix used to initialize the Euler angles.

Definition at line 63 of file vpRzyzVector.cpp.

References buildFrom().

◆ vpRzyzVector() [4/7]

vpRzyzVector::vpRzyzVector ( const vpThetaUVector tu)
explicit

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

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

Definition at line 71 of file vpRzyzVector.cpp.

References buildFrom().

◆ vpRzyzVector() [5/7]

vpRzyzVector::vpRzyzVector ( double  phi,
double  theta,
double  psi 
)

Constructor from 3 angles (in radian).

Parameters
phi: $\varphi$ angle around the $z$ axis.
theta: $\theta$ angle around the $y$ axis.
psi: $\psi$ angle around the $z$ axis.

Definition at line 56 of file vpRzyzVector.cpp.

References buildFrom().

◆ vpRzyzVector() [6/7]

vpRzyzVector::vpRzyzVector ( const vpColVector rzyz)
explicit

Copy constructor from a 3-dimension vector.

Definition at line 74 of file vpRzyzVector.cpp.

References buildFrom().

◆ vpRzyzVector() [7/7]

vpRzyzVector::vpRzyzVector ( const std::vector< double > &  rzyz)
explicit

Copy constructor from a 3-dimension vector.

Definition at line 77 of file vpRzyzVector.cpp.

References buildFrom().

Member Function Documentation

◆ buildFrom() [1/5]

vpRzyzVector vpRzyzVector::buildFrom ( const std::vector< double > &  rzyz)

Construct a $R_{zyx}=(\varphi,\theta,\psi)$ Euler angles vector from a 3-dim vector.

Definition at line 141 of file vpRzyzVector.cpp.

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

◆ buildFrom() [2/5]

vpRzyzVector vpRzyzVector::buildFrom ( const vpColVector rzyz)

Construct a $R_{zyz}=(\varphi,\theta,\psi)$ Euler angles vectorfrom a 3-dim vector.

Definition at line 125 of file vpRzyzVector.cpp.

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

◆ buildFrom() [3/5]

vpRzyzVector vpRzyzVector::buildFrom ( const vpRotationMatrix R)

Convert a rotation matrix into a $R_{zyz}=(\varphi,\theta,\psi)$ Euler angles vector.

Parameters
R: Rotation matrix used as input.
Returns
$R_{zyz}=(\varphi,\theta,\psi)$ Euler angles vector.
Examples
testRobotViper850.cpp, testRotation.cpp, testViper650.cpp, and testViper850.cpp.

Definition at line 86 of file vpRzyzVector.cpp.

Referenced by buildFrom(), and vpRzyzVector().

◆ buildFrom() [4/5]

vpRzyzVector vpRzyzVector::buildFrom ( const vpThetaUVector tu)

Convert a $\theta {\bf u}$ vector into a $R_{zyz}=(\varphi,\theta,\psi)$ Euler angles vector.

Parameters
tu: $\theta {\bf u}$ representation of a rotation used here as input.
Returns
$R_{zyz}=(\varphi,\theta,\psi)$ Euler angles vector.

Definition at line 113 of file vpRzyzVector.cpp.

References vpRotationMatrix::buildFrom(), and buildFrom().

◆ buildFrom() [5/5]

void vpRzyzVector::buildFrom ( double  phi,
double  theta,
double  psi 
)

Construction from 3 angles (in radian).

Parameters
phi: $\varphi$ angle around the $z$ axis.
theta: $\theta$ angle around the $y$ axis.
psi: $\psi$ angle around the $z$ axis.

Definition at line 188 of file vpRzyzVector.cpp.

References vpArray2D< double >::data.

◆ 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 1029 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 1043 of file vpArray2D.h.

◆ getCols()

◆ getMaxValue()

double vpArray2D< double >::getMaxValue
inherited

Return the array max value.

Examples
servoMomentImage.cpp.

Definition at line 329 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue
inherited

Return the array min value.

Examples
servoMomentImage.cpp.

Definition at line 331 of file vpArray2D.h.

◆ getRows()

◆ hadamard()

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

Compute the Hadamard product (element wise matrix multiplication).

Parameters
m: Second matrix;
Returns
m1.hadamard(m2) The Hadamard product : $ m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j} $
Examples
testArray2D.cpp.

Definition at line 625 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 1057 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 484 of file vpArray2D.h.

◆ 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 653 of file vpArray2D.h.

◆ loadYAML()

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

Load an array from a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be loaded from the file.
header: header of the file is loaded in this parameter.
Returns
Returns true on success.
See also
saveYAML()
Examples
servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, and tutorial-hsv-segmentation.cpp.

Definition at line 767 of file vpArray2D.h.

◆ operator!=()

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

Not equal to comparison operator of a 2D array.

Definition at line 509 of file vpArray2D.h.

◆ operator*()

vpColVector vpRotationVector::operator* ( double  x) const
inherited

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

Parameters
x: The scalar.
Returns
The rotation vector multiplied by the scalar as a column vector. The current rotation vector (*this) is unchanged.

Definition at line 89 of file vpRotationVector.cpp.

References vpArray2D< double >::dsize.

◆ operator,()

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

Set vector second and third element values.

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

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

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

It produces the following printings:

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

Definition at line 163 of file vpRotationVector.cpp.

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

◆ operator<<()

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

Set vector first element value.

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

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

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

It produces the following printings:

tu: 0 1.570796327 3.141592654
See also
operator,()

Definition at line 133 of file vpRotationVector.cpp.

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

◆ operator=() [1/4]

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

Set vector from a list of 3 double angle values in radians.

#include <visp3/core/vpRzyzVector.cpp>
int main()
{
vpRzyzVector rzyz = {M_PI, 0, M_PI_2};
std::cout << "rzyz: " << rzyz.t() << std::endl;
}

It produces the following printings:

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

Definition at line 248 of file vpRzyzVector.cpp.

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

◆ operator=() [2/4]

vpRzyzVector & vpRzyzVector::operator= ( const vpColVector rzyz)

Copy operator that initializes a $R_{zyz}=(\varphi,\theta,\psi)$ Euler angles vector from a 3-dimension column vector.

Parameters
rzyz: 3-dimension vector containing the values of the rotation vector.
#include <visp3/core/vpRzyzVector.h>
int main()
{
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
rzyz = v;
// rzyz is now equal to v : 0.1, 0.2, 0.3
}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyxVector.h:177

Definition at line 217 of file vpRzyzVector.cpp.

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

◆ operator=() [3/4]

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

◆ operator=() [4/4]

vpRzyzVector & vpRzyzVector::operator= ( double  v)

Initialize each element of the vector to the same angle value v.

Parameters
v: Angle value to set for each element of the vector.
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRzyzVector.h>
int main()
{
// Initialise the rotation vector
r = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}

Definition at line 173 of file vpRzyzVector.cpp.

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

◆ operator==()

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

Equal to comparison operator of a 2D array.

Definition at line 505 of file vpArray2D.h.

◆ operator[]() [1/2]

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

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

Definition at line 117 of file vpRotationVector.h.

◆ operator[]() [2/2]

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

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

Definition at line 122 of file vpRotationVector.h.

◆ reshape()

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

Definition at line 443 of file vpArray2D.h.

◆ resize()

void vpArray2D< double >::resize ( unsigned int  nrows,
unsigned int  ncols,
bool  flagNullify = true,
bool  recopy_ = true 
)
inlineinherited

Set the size of the array and initialize all the values to zero.

Parameters
nrows: number of rows.
ncols: number of column.
flagNullify: if true, then the array is re-initialized to 0 after resize. If false, the initial values from the common part of the array (common part between old and new version of the array) are kept. Default value is true.
recopy_: if true, will perform an explicit recopy of the old data.
Examples
testArray2D.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 352 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 855 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:950

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:139

Content of matrixIndent.yml:

example:
- a YAML-formatted header
- with inner indentation
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
See also
loadYAML()

Definition at line 950 of file vpArray2D.h.

◆ size()

◆ sumSquare()

double vpRotationVector::sumSquare ( ) const
inherited

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

Returns
The value

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

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

Definition at line 182 of file vpRotationVector.cpp.

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

◆ t()

◆ toStdVector()

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

Converts the vpRotationVector to a std::vector.

Returns
The corresponding std::vector<double>.

Definition at line 68 of file vpRotationVector.cpp.

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

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 1072 of file vpArray2D.h.

◆ operator!=()

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

Definition at line 1300 of file vpArray2D.h.

◆ operator*()

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

Allows to multiply a scalar by rotaion vector.

Definition at line 103 of file vpRotationVector.cpp.

◆ operator==() [1/2]

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

Definition at line 1264 of file vpArray2D.h.

◆ operator==() [2/2]

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

Definition at line 1282 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 131 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data
inherited

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 135 of file vpArray2D.h.

◆ m_index

unsigned int vpRotationVector::m_index
protectedinherited

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 129 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 133 of file vpArray2D.h.