#include <visp3/core/vpThetaUVector.h>

Inheritance diagram for vpThetaUVector:

Public Member Functions
	vpThetaUVector ()

	vpThetaUVector (const vpThetaUVector &tu)

	vpThetaUVector (const vpHomogeneousMatrix &M)

	vpThetaUVector (const vpPoseVector &p)

	vpThetaUVector (const vpRotationMatrix &R)

	vpThetaUVector (const vpRzyxVector &rzyx)

	vpThetaUVector (const vpRzyzVector &rzyz)

	vpThetaUVector (const vpRxyzVector &rxyz)

	vpThetaUVector (const vpQuaternionVector &q)

	vpThetaUVector (const vpColVector &tu)

	vpThetaUVector (const std::vector< double > &tu)

	vpThetaUVector (double tux, double tuy, double tuz)

vpThetaUVector	buildFrom (const vpHomogeneousMatrix &M)

vpThetaUVector	buildFrom (const vpPoseVector &p)

vpThetaUVector	buildFrom (const vpRotationMatrix &R)

vpThetaUVector	buildFrom (const vpRzyxVector &rzyx)

vpThetaUVector	buildFrom (const vpRzyzVector &zyz)

vpThetaUVector	buildFrom (const vpRxyzVector &xyz)

vpThetaUVector	buildFrom (const vpQuaternionVector &q)

vpThetaUVector	buildFrom (const vpColVector &tu)

vpThetaUVector	buildFrom (const std::vector< double > &tu)

void	buildFrom (double tux, double tuy, double tuz)

void	extract (double &theta, vpColVector &u) const

double	getTheta () const

vpColVector	getU () const

vpThetaUVector &	operator= (const vpColVector &tu)

vpThetaUVector &	operator= (double x)

vpThetaUVector	operator* (const vpThetaUVector &tu_b) const

vpThetaUVector &	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

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

vpRotationVector &	operator<< (double val)

vpRotationVector &	operator, (double val)

double	sumSquare () const

vpRowVector	t () const

std::vector< double >	toStdVector () const

unsigned int	m_index

Inherited I/O from vpArray2D with Static Public Member Functions
vpArray2D< double >	insert (const vpArray2D< double > &A, const vpArray2D< double > &B, unsigned int r, unsigned int c)

static 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 $\theta {\bf u}$ axis-angle minimal representation.

Class that consider the case of the $\theta {\bf u}$ parameterization for the rotation.

The vpThetaUVector class is derived from vpRotationVector.

The $\theta {\bf u}$ representation is one of the minimal representation of a rotation matrix, where ${\bf u} = (u_{x} \; u_{y} \; u_{z})^{\top}$ is a unit vector representing the rotation axis and $\theta$ is the rotation angle.

From the $\theta {\bf u}$ representation it is possible to build the rotation matrix ${\bf R}$ using the Rodrigues formula:

${\bf R} = {\bf I}_{3} + (1 - \cos{ \theta}) \; {\bf u u}^{\top} + \sin{ \theta} \; [{\bf u}]_{\times}$

with ${\bf I}_{3}$ the identity matrix of dimension $3\times3$ and $[{\bf u}]_{\times}$ the skew matrix:

$[{\bf u}]_{\times} = \left( \begin{array}{ccc} 0 & -u_{z} & u_{y} \\ u_{z} & 0 & -u_{x} \\ -u_{y} & u_{x} & 0 \end{array} \right)$

From the implementation point of view, it is nothing more than an array of three floats with values in [rad].

You can set values [rad] accessing each element:

vpThetaUVector tu;
tu[0] = M_PI_4;
tu[1] = M_PI_2;
tu[2] = M_PI;

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

tu << 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:

tu = {M_PI_4, M_PI_2, M_PI};

To get the values [rad] use:

double tux = tu[0];
double tuy = tu[1];
double tuz = tu[2];

The code below shows first how to initialize a $\theta {\bf u}$ vector, than how to construct a rotation matrix from a vpThetaUVector and finally how to extract the theta U angles from the build rotation matrix.

#include <iostream>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpThetaUVector.h>
 
int main()
{
  vpThetaUVector tu;
 
  // Initialise the theta U rotation vector
  tu[0] = vpMath::rad( 45.f);
  tu[1] = vpMath::rad(-30.f);
  tu[2] = vpMath::rad( 90.f);
 
  // Construct a rotation matrix from the theta U angles
  vpRotationMatrix R(tu);
 
  // Extract the theta U angles from a rotation matrix
  tu.buildFrom(R);
 
  // Print the extracted theta U angles. Values are the same than the
  // one used for initialization
  std::cout << tu;
 
  // Since the rotation vector is 3 values column vector, the
  // transpose operation produce a row vector.
  vpRowVector tu_t = tu.t();
 
  // Print the transpose row vector
  std::cout << tu_t << std::endl;
}

Definition at line 165 of file vpThetaUVector.h.

Constructor & Destructor Documentation

◆ vpThetaUVector() [1/12]

vpThetaUVector::vpThetaUVector ( )

Default constructor that initialize all the 3 angles to zero.

Definition at line 50 of file vpThetaUVector.cpp.

Referenced by operator*().

◆ vpThetaUVector() [2/12]

vpThetaUVector::vpThetaUVector ( const vpThetaUVector & tu )

Copy constructor.

Definition at line 52 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [3/12]

vpThetaUVector::vpThetaUVector ( const vpHomogeneousMatrix & M )

explicit

Initialize a $\theta {\bf u}$ vector from an homogeneous matrix.

Definition at line 58 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [4/12]

vpThetaUVector::vpThetaUVector ( const vpPoseVector & p )

explicit

Initialize a $\theta {\bf u}$ vector from a pose vector.

Definition at line 62 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [5/12]

vpThetaUVector::vpThetaUVector ( const vpRotationMatrix & R )

explicit

Initialize a $\theta {\bf u}$ vector from a rotation matrix.

Definition at line 66 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [6/12]

vpThetaUVector::vpThetaUVector ( const vpRzyxVector & rzyx )

explicit

Initialize a $\theta {\bf u}$ vector from an Euler z-y-x representation vector.

Definition at line 71 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [7/12]

vpThetaUVector::vpThetaUVector ( const vpRzyzVector & rzyz )

explicit

Initialize a $\theta {\bf u}$ vector from an Euler z-y-z representation vector.

Definition at line 75 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [8/12]

vpThetaUVector::vpThetaUVector ( const vpRxyzVector & rxyz )

explicit

Initialize a $\theta {\bf u}$ vector from an Euler x-y-z representation vector.

Definition at line 79 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [9/12]

vpThetaUVector::vpThetaUVector ( const vpQuaternionVector & q )

explicit

Initialize a $\theta {\bf u}$ vector from a quaternion representation vector.

Definition at line 83 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [10/12]

vpThetaUVector::vpThetaUVector ( const vpColVector & tu )

explicit

Copy constructor from a 3-dimension vector.

Definition at line 54 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [11/12]

vpThetaUVector::vpThetaUVector ( const std::vector< double > & tu )

explicit

Build a $\theta {\bf u}$ vector from a vector of 3 angles in radian.

Definition at line 106 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [12/12]

vpThetaUVector::vpThetaUVector	(	double	tux,
		double	tuy,
		double	tuz
	)

Build a $\theta {\bf u}$ vector from 3 angles in radians.

#include <visp3/core/vpThetaUVector.cpp>
 
int main()
{
  vpThetaUVector 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

Definition at line 101 of file vpThetaUVector.cpp.

References buildFrom().

Member Function Documentation

◆ buildFrom() [1/10]

vpThetaUVector vpThetaUVector::buildFrom ( const std::vector< double > & tu )

Build a $\theta {\bf u}$ vector from a 3-dim vectors.

Definition at line 244 of file vpThetaUVector.cpp.

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

◆ buildFrom() [2/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpColVector & tu )

Build a $\theta {\bf u}$ vector from a 3-dim vector.

Definition at line 259 of file vpThetaUVector.cpp.

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

◆ buildFrom() [3/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpHomogeneousMatrix & M )

Converts an homogeneous matrix into a $\theta {\bf u}$ vector.

Examples: exponentialMap.cpp, and tutorial-homography-from-points.cpp.

Definition at line 111 of file vpThetaUVector.cpp.

References vpHomogeneousMatrix::extract().

Referenced by buildFrom(), vpPoseVector::buildFrom(), vp::eigen2visp(), vpHomogeneousMatrix::extract(), vpRotationMatrix::getThetaUVector(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpExponentialMap::inverse(), vpSimulatorAfma6::setPosition(), and vpThetaUVector().

◆ buildFrom() [4/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpPoseVector & p )

Converts a pose vector into a $\theta {\bf u}$ vector copying the $\theta {\bf u}$ values contained in the pose vector.

Definition at line 124 of file vpThetaUVector.cpp.

References vpArray2D< double >::data.

◆ buildFrom() [5/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpQuaternionVector & q )

Build a $\theta {\bf u}$ vector from a quaternion representation vector.

Definition at line 233 of file vpThetaUVector.cpp.

References buildFrom().

◆ buildFrom() [6/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRotationMatrix & R )

Converts a rotation matrix into a $\theta {\bf u}$ vector.

Definition at line 135 of file vpThetaUVector.cpp.

References vpArray2D< double >::data, vpMath::sign(), and vpMath::sinc().

◆ buildFrom() [7/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRxyzVector & rxyz )

Build a $\theta {\bf u}$ vector from an Euler x-y-z representation vector.

Definition at line 222 of file vpThetaUVector.cpp.

References buildFrom().

◆ buildFrom() [8/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRzyxVector & rzyx )

Build a $\theta {\bf u}$ vector from an Euler z-y-x representation vector.

Definition at line 202 of file vpThetaUVector.cpp.

References buildFrom().

◆ buildFrom() [9/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRzyzVector & rzyz )

Build a $\theta {\bf u}$ vector from an Euler z-y-z representation vector.

Definition at line 212 of file vpThetaUVector.cpp.

References buildFrom().

◆ buildFrom() [10/10]

void vpThetaUVector::buildFrom	(	double	tux,
		double	tuy,
		double	tuz
	)

Build a $\theta {\bf u}$ vector from 3 angles in radian.

Definition at line 442 of file vpThetaUVector.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 931 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 945 of file vpArray2D.h.

◆ extract()

void vpThetaUVector::extract	(	double &	theta,
		vpColVector &	u
	)		const

Extract the rotation angle $\theta$ and the unit vector $\bf u$ from the $\theta {\bf u}$ representation.

Parameters

theta	: Rotation angle $\theta$ in rad.
u	: 3-dim unit vector ${\bf u} = (u_{x},u_{y},u_{z})^{\top}$ representing the rotation axis.

The following example shows how to use this function:

#include <visp3/core/vpThetaUVector.h>
 
int main()
{
  vpHomogeneousMatrix M(0, 0, 1., vpMath::rad(10), vpMath::rad(20), vpMath::rad(30));
 
  double theta;
  vpColVector u;
  M.getRotationMatrix().getThetaUVector().extract(theta, u);
  std::cout << "theta: " << theta << std::endl;
  std::cout << "u    : " << u.t() << std::endl;
}

See also: getTheta(), getU()

Definition at line 363 of file vpThetaUVector.cpp.

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

Referenced by vpQuaternionVector::buildFrom().

◆ getCols()

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

inlineinherited

Return the number of columns of the 2D array.

See also: getRows(), size()

Examples: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 257 of file vpArray2D.h.

◆ getMaxValue()

double vpArray2D< double >::getMaxValue

inherited

Return the array max value.

Examples: servoMomentImage.cpp.

Definition at line 259 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue

inherited

Return the array min value.

Examples: servoMomentImage.cpp.

Definition at line 261 of file vpArray2D.h.

◆ getRows()

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

inlineinherited

Return the number of rows of the 2D array.

See also: getCols(), size()

Examples: mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 267 of file vpArray2D.h.

◆ getTheta()

double vpThetaUVector::getTheta ( ) const

Get the rotation angle $\theta$ from the $\theta {\bf u}$ representation.

Returns: Rotation angle $\theta$ in rad.

The following example shows how to use this function:

#include <visp3/core/vpThetaUVector.h>
 
int main()
{
  vpHomogeneousMatrix M(0, 0, 1., vpMath::rad(10), vpMath::rad(20), vpMath::rad(30));
 
  std::cout << "theta: " << M.getRotationMatrix().getThetaUVector().getTheta() << std::endl;
  std::cout << "u    : " << M.getRotationMatrix().getThetaUVector().getU().t() << std::endl;
}

See also: getTheta(), extract()

Definition at line 399 of file vpThetaUVector.cpp.

References vpArray2D< double >::data.

Referenced by extract(), getU(), operator*(), and vp::visp2eigen().

◆ getU()

vpColVector vpThetaUVector::getU ( ) const

Get the unit vector $\bf u$ from the $\theta {\bf u}$ representation.

Returns: 3-dim unit vector ${\bf u} = (u_{x},u_{y},u_{z})^{\top}$ representing the rotation axis.

The following example shows how to use this function:

#include <visp3/core/vpThetaUVector.h>
 
int main()
{
  vpHomogeneousMatrix M(0, 0, 1., vpMath::rad(10), vpMath::rad(20), pMath::rad(30));
 
  std::cout << "theta: " << M.getRotationMatrix().getThetaUVector().getTheta() << std::endl;
  std::cout << "u    : " << M.getRotationMatrix().getThetaUVector().getU().t() << std::endl;
}

See also: getTheta(), extract()

Definition at line 424 of file vpThetaUVector.cpp.

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

Referenced by operator*(), and vp::visp2eigen().

◆ 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 529 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 959 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 394 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 557 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 671 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 419 of file vpArray2D.h.

◆ operator*() [1/2]

vpThetaUVector vpThetaUVector::operator* ( const vpThetaUVector & tu_b ) const

Perform rotation chaining / rotation multiplication using the theta.u rotation representation. See: this answer for some details about the maths.

Definition at line 453 of file vpThetaUVector.cpp.

References vpColVector::crossProd(), vpColVector::dotProd(), getTheta(), getU(), and vpThetaUVector().

◆ operator*() [2/2]

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 86 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()
{
  vpThetaUVector tu;
  tu << 0, M_PI_2, M_PI;
  std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654

See also: operator<<()

Definition at line 159 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()
{
  vpThetaUVector tu;
  tu << 0, M_PI_2, M_PI;
  std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654

See also: operator,()

Definition at line 129 of file vpRotationVector.cpp.

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

◆ operator=() [1/3]

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

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

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

It produces the following printings:

tu: 3.141592654 0 1.570796327

See also: operator<<()

Definition at line 487 of file vpThetaUVector.cpp.

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

◆ operator=() [2/3]

vpThetaUVector & vpThetaUVector::operator= ( const vpColVector & tu )

Copy operator that initializes a $\theta {\bf u}$ vector from a 3-dimension column vector tu.

Parameters

tu	: 3-dimension vector containing the values of the $\theta {\bf u}$ vector.

#include <visp3/core/vpThetaUVector.h>
 
int main()
{
  vpColVector v(3);
  v[0] = 0.1;
  v[1] = 0.2;
  v[2] = 0.3;
  vpThetaUVector tu;
  tu = v;
  // tu is now equal to v : 0.1, 0.2, 0.3
}

Definition at line 323 of file vpThetaUVector.cpp.

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

◆ operator=() [3/3]

vpThetaUVector & vpThetaUVector::operator= ( double v )

Initialize each element of the $\theta {\bf u}$ vector to the same angle value v.

Parameters

v	: Angle value to set for each element of the $\theta {\bf u}$ vector.

#include <visp3/core/vpMath.h>
#include <visp3/core/vpThetaUVector.h>
 
int main()
{
  vpThetaUVector tu;
 
  // Initialise the theta U rotation vector
  tu = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}

Definition at line 292 of file vpThetaUVector.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 415 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 360 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 282 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 759 of file vpArray2D.h.

◆ saveYAML()

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

inlinestaticinherited

Save an array in a YAML-formatted file.

Parameters

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

Returns: Returns true if success.

Here is an example of outputs.

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

Content of matrix.yml:

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

Content of matrixIndent.yml:

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

See also: loadYAML()

Definition at line 852 of file vpArray2D.h.

◆ size()

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

inlineinherited

Return the number of elements of the 2D array.

Examples: testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRowVector.cpp, testThread2.cpp, testTranslationVector.cpp, testTukeyEstimator.cpp, testUniversalRobotsGetData.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 269 of file vpArray2D.h.

◆ 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 178 of file vpRotationVector.cpp.

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

◆ t()

vpRowVector vpRotationVector::t ( ) const

inherited

Return the transpose of the rotation vector.

Examples: calibrate-hand-eye.cpp, testEigenConversion.cpp, testMatrixInitialization.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testViper650.cpp, testViper850.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 53 of file vpRotationVector.cpp.

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

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

◆ toStdVector()

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

inherited

Converts the vpRotationVector to a std::vector.

Returns: The corresponding std::vector<double>.

Definition at line 67 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
	)

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 974 of file vpArray2D.h.

◆ operator!=()

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

◆ operator*()

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

Definition at line 99 of file vpRotationVector.cpp.

◆ operator==() [1/2]

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

◆ operator==() [2/2]

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

◆ 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`
	)

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);

vpArray2D< double >::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)

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::incorrectMatrixSizeError if the sizes of the matrices do not allow the operations.

Parameters

A	: An array that could be a vpMatrix.
B	: An array that could be a vpMatrix.
alpha	: A scalar.
C	: An array that could be a vpMatrix.
beta	: A scalar.
D	: The resulting array that could be a vpMatrix.
ops	: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 388 of file vpGEMM.h.

◆ vpGEMMmethod

enum vpGEMMmethod

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

Address of the first element of the data array.

Examples: testDisplacement.cpp, testMatrix.cpp, testTranslationVector.cpp, testUniversalRobotsGetData.cpp, tutorial-bridge-opencv-matrix.cpp, and tutorial-matlab.cpp.

Definition at line 138 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

Current array size (rowNum * colNum)

Definition at line 134 of file vpArray2D.h.

◆ m_index

unsigned int vpRotationVector::m_index

protectedinherited

Definition at line 151 of file vpRotationVector.h.

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

◆ rowNum

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 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.

Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Inherited functionalities from vpRotationVector

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpThetaUVector() [1/12]

◆ vpThetaUVector() [2/12]

◆ vpThetaUVector() [3/12]

◆ vpThetaUVector() [4/12]

◆ vpThetaUVector() [5/12]

◆ vpThetaUVector() [6/12]

◆ vpThetaUVector() [7/12]

◆ vpThetaUVector() [8/12]

◆ vpThetaUVector() [9/12]

◆ vpThetaUVector() [10/12]

◆ vpThetaUVector() [11/12]

◆ vpThetaUVector() [12/12]

Member Function Documentation

◆ buildFrom() [1/10]

◆ buildFrom() [2/10]

◆ buildFrom() [3/10]

◆ buildFrom() [4/10]

◆ buildFrom() [5/10]

◆ buildFrom() [6/10]

◆ buildFrom() [7/10]

◆ buildFrom() [8/10]

◆ buildFrom() [9/10]

◆ buildFrom() [10/10]

◆ conv2() [1/2]

◆ conv2() [2/2]

◆ extract()

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ getTheta()

◆ getU()

◆ hadamard()

◆ insert() [1/2]

◆ insert() [2/2]

◆ load()

◆ loadYAML()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator,()

◆ operator<<()

◆ operator=() [1/3]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reshape()

◆ resize()

◆ save()

◆ saveYAML()

◆ size()

◆ sumSquare()

◆ t()

◆ toStdVector()

Friends And Related Function Documentation

◆ insert()

◆ operator!=()

◆ operator*()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ vpGEMM()

◆ vpGEMMmethod

Member Data Documentation

◆ colNum

◆ data

◆ dsize

◆ m_index

◆ rowNum

◆ rowPtrs