Visual Servoing Platform  version 3.2.1 under development (2019-10-22) under development (2019-10-22)
vpThetaUVector Class Reference

#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 (const double tux, const double tuy, const double tuz)
 
virtual ~vpThetaUVector ()
 
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 (const double tux, const double tuy, const double tuz)
 
void extract (double &theta, vpColVector &u) const
 
double getTheta () const
 
vpColVector getU () const
 
vpThetaUVectoroperator= (const vpColVector &tu)
 
vpThetaUVectoroperator= (double x)
 
vpThetaUVectoroperator= (const std::initializer_list< double > &list)
 
bool operator== (const vpArray2D< float > &A) const
 
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 ()
 
Inherited functionalities from vpArray2D
unsigned int getCols () const
 
double getMaxValue () const
 
double getMinValue () const
 
unsigned int getRows () const
 
unsigned int size () const
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
 
void reshape (unsigned int nrows, unsigned int ncols)
 
bool operator== (const vpArray2D< double > &A) const
 
bool operator!= (const vpArray2D< double > &A) const
 
vpArray2D< double > hadamard (const vpArray2D< double > &m) const
 

Static Public Member Functions

Inherited I/O from vpArray2D with Static Public Member Functions
static bool load (const std::string &filename, vpArray2D< double > &A, const bool binary=false, char *header=NULL)
 
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=NULL)
 
static bool save (const std::string &filename, const vpArray2D< double > &A, const bool binary=false, const char *header="")
 
static bool saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")
 

Public Attributes

double * data
 

Protected Attributes

unsigned int m_index
 
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
 
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)
 

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:

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:

#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
tu = {M_PI_4, M_PI_2, M_PI};
#endif

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 contruct a rotation matrix from a vpThetaUVector and finaly 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()
{
// 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
// 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;
}
Examples:
calibrate-hand-eye.cpp, exponentialMap.cpp, servoFrankaPBVS.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, testDisplacement.cpp, testEigenConversion.cpp, testFeature.cpp, testMatrixInitialization.cpp, testPoseRansac2.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, tutorial-hand-eye-calibration.cpp, and tutorial-homography-from-points.cpp.

Definition at line 172 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 53 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [2/12]

vpThetaUVector::vpThetaUVector ( const vpThetaUVector tu)

Copy constructor.

Definition at line 55 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 64 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 68 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 72 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 77 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 81 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 85 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 89 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 57 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 115 of file vpThetaUVector.cpp.

References buildFrom().

◆ vpThetaUVector() [12/12]

vpThetaUVector::vpThetaUVector ( const double  tux,
const double  tuy,
const 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 107 of file vpThetaUVector.cpp.

References buildFrom().

◆ ~vpThetaUVector()

virtual vpThetaUVector::~vpThetaUVector ( )
inlinevirtual

Destructor.

Definition at line 199 of file vpThetaUVector.h.

References vpRotationVector::operator=().

Member Function Documentation

◆ buildFrom() [1/10]

◆ buildFrom() [2/10]

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 136 of file vpThetaUVector.cpp.

References vpArray2D< double >::data.

◆ buildFrom() [3/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRotationMatrix R)

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

Definition at line 147 of file vpThetaUVector.cpp.

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

◆ buildFrom() [4/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRzyxVector rzyx)

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

Definition at line 207 of file vpThetaUVector.cpp.

References buildFrom().

◆ buildFrom() [5/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRzyzVector rzyz)

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

Definition at line 217 of file vpThetaUVector.cpp.

References buildFrom().

◆ buildFrom() [6/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRxyzVector rxyz)

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

Definition at line 227 of file vpThetaUVector.cpp.

References buildFrom().

◆ buildFrom() [7/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpQuaternionVector q)

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

Definition at line 238 of file vpThetaUVector.cpp.

References buildFrom().

◆ buildFrom() [8/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpColVector tu)

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

Definition at line 264 of file vpThetaUVector.cpp.

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

◆ buildFrom() [9/10]

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

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

Definition at line 249 of file vpThetaUVector.cpp.

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

◆ buildFrom() [10/10]

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

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

Definition at line 447 of file vpThetaUVector.cpp.

References vpArray2D< double >::data.

◆ 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()
{
double theta;
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 368 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, testColVector.cpp, testDisplacement.cpp, testImageFilter.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 279 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::getMaxValue(), and vpArray2D< Type >::getMinValue().

Referenced by vpMatrix::cond(), vpRowVector::cppPrint(), vpMatrix::cppPrint(), vpRowVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpRotationMatrix::isARotationMatrix(), vpMatrix::kernel(), vpRowVector::maplePrint(), vpMatrix::maplePrint(), vpRowVector::matlabPrint(), vpMatrix::matlabPrint(), vpRowVector::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpRowVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::row(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

◆ getMaxValue()

double vpArray2D< double >::getMaxValue ( ) const
inherited

Return the array max value.

Examples:
servoMomentImage.cpp, and testArray2D.cpp.

Definition at line 914 of file vpArray2D.h.

References vpArray2D< Type >::data.

◆ getMinValue()

double vpArray2D< double >::getMinValue ( ) const
inherited

Return the array min value.

Examples:
servoMomentImage.cpp, and testArray2D.cpp.

Definition at line 897 of file vpArray2D.h.

References vpArray2D< Type >::data.

◆ 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, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageFilter.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, tutorial-matlab.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 289 of file vpArray2D.h.

References vpArray2D< Type >::rowNum.

Referenced by vpMatrix::column(), vpMatrix::cond(), vpColVector::cppPrint(), vpMatrix::cppPrint(), vpColVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpRotationMatrix::getCol(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpRotationMatrix::isARotationMatrix(), vpMatrix::kernel(), vpColVector::maplePrint(), vpMatrix::maplePrint(), vpColVector::matlabPrint(), vpMatrix::matlabPrint(), vpColVector::operator+(), vpColVector::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpForceTwistMatrix::print(), vpVelocityTwistMatrix::print(), vpPoseVector::print(), vpColVector::print(), vpMatrix::print(), vpMatrix::pseudoInverse(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), and vpMatrix::svdOpenCV().

◆ 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()
{
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 404 of file vpThetaUVector.cpp.

References vpArray2D< double >::data.

Referenced by extract(), getU(), 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 429 of file vpThetaUVector.cpp.

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

Referenced by vp::visp2eigen().

◆ hadamard()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< double > &  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 934 of file vpArray2D.h.

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

◆ load()

static bool vpArray2D< double >::load ( const std::string &  filename,
vpArray2D< double > &  A,
const bool  binary = false,
char *  header = NULL 
)
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 542 of file vpArray2D.h.

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

◆ loadYAML()

static bool vpArray2D< double >::loadYAML ( const std::string &  filename,
vpArray2D< double > &  A,
char *  header = NULL 
)
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:
servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 654 of file vpArray2D.h.

References vpArray2D< Type >::resize().

◆ operator!=()

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

Not equal to comparison operator of a 2D array.

Definition at line 995 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.

Referenced by vpQuaternionVector::~vpQuaternionVector().

◆ 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;
}

It produces the following printings:

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

Definition at line 162 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 132 of file vpRotationVector.cpp.

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

◆ operator=() [1/3]

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()
{
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
tu = v;
// tu is now equal to v : 0.1, 0.2, 0.3
}

Definition at line 328 of file vpThetaUVector.cpp.

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

◆ operator=() [2/3]

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()
{
// Initialise the theta U rotation vector
tu = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}

Definition at line 297 of file vpThetaUVector.cpp.

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

◆ operator=() [3/3]

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 472 of file vpThetaUVector.cpp.

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

◆ operator==() [1/2]

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

Equal to comparison operator of a 2D array.

Definition at line 950 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::data, vpArray2D< Type >::operator==(), vpArray2D< Type >::rowNum, and vpArray2D< Type >::size().

◆ operator==() [2/2]

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

◆ 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 127 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 132 of file vpRotationVector.h.

◆ reshape()

void vpArray2D< double >::reshape ( unsigned int  nrows,
unsigned int  ncols 
)
inlineinherited

◆ resize()

void vpArray2D< double >::resize ( const unsigned int  nrows,
const unsigned int  ncols,
const bool  flagNullify = true,
const 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 if needed and if flagNullify is set to false.
Examples:
testArray2D.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 305 of file vpArray2D.h.

References vpArray2D< Type >::colNum, vpArray2D< Type >::dsize, vpException::memoryAllocationError, vpArray2D< Type >::rowNum, and vpArray2D< Type >::rowPtrs.

Referenced by vpMatrix::diag(), vpMatrix::eye(), vpMatrix::init(), vpMatrix::operator,(), vpMatrix::operator<<(), vpMatrix::operator=(), vpMatrix::stack(), and vpMatrix::svdOpenCV().

◆ save()

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< double > &  A,
const 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 739 of file vpArray2D.h.

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

◆ saveYAML()

static bool vpArray2D< double >::saveYAML ( const std::string &  filename,
const vpArray2D< double > &  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");

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]

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()
Examples:
tutorial-chessboard-pose.cpp, tutorial-franka-acquire-calib-data.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 832 of file vpArray2D.h.

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

◆ 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:
servoFrankaPBVS.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:
testEigenConversion.cpp, testMatrixInitialization.cpp, testViper650.cpp, and testViper850.cpp.

Definition at line 56 of file vpRotationVector.cpp.

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

◆ toStdVector()

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

Converts the vpRotationVector to a std::vector.

Returns
The corresponding std::vector<double>.

Definition at line 70 of file vpRotationVector.cpp.

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

Friends And Related Function Documentation

◆ operator*()

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

Allows to multiply a scalar by rotaion vector.

Definition at line 102 of file vpRotationVector.cpp.

◆ 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);

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 393 of file vpGEMM.h.

References vpException::functionNotImplementedError.

◆ 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 57 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 137 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUGsl(), vpMatrix::detByLULapack(), vpMatrix::detByLUOpenCV(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpMatrix::eye(), vpMatrix::getDiag(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpRowVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUGsl(), vpMatrix::inverseByLULapack(), vpMatrix::inverseByLUOpenCV(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpRotationMatrix::operator*(), vpRowVector::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*=(), vpRowVector::operator*=(), vpMatrix::operator*=(), vpRowVector::operator+(), vpRowVector::operator+=(), vpMatrix::operator+=(), vpRowVector::operator,(), vpMatrix::operator,(), vpRowVector::operator-(), vpRowVector::operator-=(), vpMatrix::operator-=(), vpRowVector::operator/(), vpMatrix::operator/(), vpRowVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::operator==(), vpColVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpRowVector::reshape(), vpMatrix::setIdentity(), vpMatrix::solveByQR(), vpMatrix::solveBySVD(), vpMatrix::stack(), vpRowVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpRowVector::sum(), vpMatrix::sum(), vpRowVector::sumSquare(), vpMatrix::sumSquare(), vpRowVector::t(), vpMatrix::transpose(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ data

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

Examples:
testArray2D.cpp, testDisplacement.cpp, testEigenConversion.cpp, testImageFilter.cpp, testMatrix.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 145 of file vpArray2D.h.

Referenced by vpMatrix::AtA(), vpQuaternionVector::buildFrom(), vpHomogeneousMatrix::buildFrom(), buildFrom(), vpRzyzVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpColVector::clear(), vpHomogeneousMatrix::convert(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUOpenCV(), vpMatrix::expm(), extract(), vpMatrix::frobeniusNorm(), vpMatrix::getRow(), getTheta(), getU(), vpColVector::hadamard(), vpMatrix::hadamard(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpColVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUOpenCV(), vpTranslationVector::operator*(), vpRowVector::operator*(), vpHomography::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpRotationVector::operator,(), vpTranslationVector::operator,(), vpRotationMatrix::operator,(), vpRowVector::operator,(), vpColVector::operator,(), vpTranslationVector::operator-(), vpRowVector::operator-(), vpColVector::operator-(), vpTranslationVector::operator/(), vpRowVector::operator/(), vpHomography::operator/(), vpColVector::operator/(), vpHomography::operator/=(), vpRotationVector::operator<<(), vpTranslationVector::operator<<(), vpRotationMatrix::operator<<(), vpRowVector::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpQuaternionVector::operator=(), vpTranslationVector::operator=(), vpRotationMatrix::operator=(), vpRxyzVector::operator=(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpRowVector::operator=(), operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::operator==(), vpColVector::operator==(), vpColVector::operator[](), vpMatrix::qr(), vpMatrix::qrPivot(), vpRowVector::reshape(), vpColVector::reshape(), vpQuaternionVector::set(), vpMatrix::stack(), vpMatrix::stackRows(), vpColVector::sum(), vpColVector::sumSquare(), vpMatrix::svdEigen3(), vpMatrix::svdGsl(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpRotationVector::t(), vpTranslationVector::t(), vpPoseVector::t(), vpRowVector::t(), vpColVector::t(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), vpColVector::toStdVector(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), vpRowVector::vpRowVector(), vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), vpQuaternionVector::z(), vpSubColVector::~vpSubColVector(), vpSubMatrix::~vpSubMatrix(), and vpSubRowVector::~vpSubRowVector().

◆ dsize

◆ m_index

unsigned int vpRotationVector::m_index
protectedinherited

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 135 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::detByLU(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUGsl(), vpMatrix::detByLULapack(), vpMatrix::detByLUOpenCV(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::expm(), vpColVector::extract(), vpMatrix::eye(), vpMatrix::getCol(), vpMatrix::getDiag(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpColVector::infinityNorm(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubRowVector::init(), vpSubMatrix::init(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUGsl(), vpMatrix::inverseByLULapack(), vpMatrix::inverseByLUOpenCV(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpTranslationVector::operator*(), vpRotationMatrix::operator*(), vpHomogeneousMatrix::operator*(), vpColVector::operator*(), vpMatrix::operator*(), vpTranslationVector::operator*=(), vpRotationMatrix::operator*=(), vpColVector::operator*=(), vpMatrix::operator*=(), vpColVector::operator+(), vpColVector::operator+=(), vpMatrix::operator+=(), vpColVector::operator,(), vpColVector::operator-(), vpColVector::operator-=(), vpMatrix::operator-=(), vpColVector::operator/(), vpMatrix::operator/(), vpTranslationVector::operator/=(), vpColVector::operator/=(), vpMatrix::operator/=(), vpMatrix::operator<<(), vpColVector::operator<<(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpSubMatrix::operator=(), vpTranslationVector::operator=(), vpRowVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpRowVector::operator==(), vpColVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpColVector::reshape(), vpMatrix::setIdentity(), vpMatrix::stack(), vpColVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpColVector::sum(), vpMatrix::sum(), vpRotationVector::sumSquare(), vpTranslationVector::sumSquare(), vpColVector::sumSquare(), vpMatrix::sumSquare(), vpTranslationVector::t(), vpPoseVector::t(), vpColVector::t(), vpMatrix::transpose(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ rowPtrs