Visual Servoing Platform  version 3.6.1 under development (2024-11-21)
Public Member Functions | Static Public Member Functions | Public Attributes | Protected Attributes | Related Functions | List of all members
vpTranslationVector Class Reference
core: Core module » Mathematics » Transformations

#include <visp3/core/vpTranslationVector.h>

+ Inheritance diagram for vpTranslationVector:

Public Member Functions

 vpTranslationVector ()
 
 vpTranslationVector (double tx, double ty, double tz)
 
 vpTranslationVector (const vpTranslationVector &tv)
 
VP_EXPLICIT vpTranslationVector (const vpHomogeneousMatrix &M)
 
VP_EXPLICIT vpTranslationVector (const vpPoseVector &p)
 
VP_EXPLICIT vpTranslationVector (const vpColVector &v)
 
vpTranslationVector & buildFrom (const double &tx, const double &ty, const double &tz)
 
vpTranslationVector & buildFrom (const vpHomogeneousMatrix &M)
 
vpTranslationVector & buildFrom (const vpPoseVector &p)
 
vpTranslationVector & buildFrom (const vpColVector &v)
 
double frobeniusNorm () const
 
vpTranslationVector operator+ (const vpTranslationVector &tv) const
 
vpTranslationVector operator+ (const vpColVector &v) const
 
vpTranslationVector operator- (const vpTranslationVector &tv) const
 
vpTranslationVector operator- () const
 
vpMatrix operator* (const vpRowVector &v) const
 
vpTranslationVector operator* (double x) const
 
vpTranslationVector & operator*= (double x)
 
vpTranslationVector operator/ (double x) const
 
vpTranslationVector & operator/= (double x)
 
vpTranslationVector & operator= (const vpColVector &tv)
 
vpTranslationVector & operator= (const vpTranslationVector &tv)
 
vpTranslationVector & operator= (double x)
 
vpTranslationVector & operator= (const std::initializer_list< double > &list)
 
double & operator[] (unsigned int n)
 
const double & operator[] (unsigned int n) const
 
vpTranslationVector & operator<< (double val)
 
vpTranslationVector & operator, (double val)
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true)
 
void set (double tx, double ty, double tz)
 
vpMatrix skew () const
 
double sumSquare () const
 
vpRowVector t () const
 
Inherited functionalities from vpArray2D
unsigned int getCols () const
 
double getMaxValue () const
 
double getMinValue () const
 
unsigned int getRows () const
 
unsigned int size () const
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
 
void reshape (unsigned int nrows, unsigned int ncols)
 
void insert (const vpArray2D< double > &A, unsigned int r, unsigned int c)
 
bool operator== (const vpArray2D< double > &A) const
 
bool operator!= (const vpArray2D< double > &A) const
 
vpArray2D< double > hadamard (const vpArray2D< double > &m) const
 

Static Public Member Functions

static vpTranslationVector cross (const vpTranslationVector &a, const vpTranslationVector &b)
 
static vpTranslationVector mean (const std::vector< vpHomogeneousMatrix > &vec_M)
 
static vpTranslationVector mean (const std::vector< vpTranslationVector > &vec_t)
 
static vpMatrix skew (const vpTranslationVector &tv)
 
static void skew (const vpTranslationVector &tv, vpMatrix &M)
 

Public Attributes

double * data
 

Protected Attributes

unsigned int m_index
 

Related Functions

(Note that these are not member functions.)

enum  vpGEMMmethod
 
bool operator== (const vpArray2D< double > &A) const
 
bool operator== (const vpArray2D< float > &A) const
 
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 I/O from vpArray2D with Static Public Member Functions

unsigned int rowNum
 
unsigned int colNum
 
double ** rowPtrs
 
unsigned int dsize
 
vpArray2D< double > insert (const vpArray2D< double > &A, const vpArray2D< double > &B, unsigned int r, unsigned int c)
 
static bool load (const std::string &filename, vpArray2D< double > &A, bool binary=false, char *header=nullptr)
 
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=nullptr)
 
static bool save (const std::string &filename, const vpArray2D< double > &A, bool binary=false, const char *header="")
 
static bool saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")
 
static vpArray2D< double > conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, const std::string &mode)
 
static void conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, vpArray2D< double > &res, const std::string &mode)
 
static void insert (const vpArray2D< double > &A, const vpArray2D< double > &B, vpArray2D< double > &C, unsigned int r, unsigned int c)
 

Detailed Description

Class that consider the case of a translation vector.

Let us denote $^{a}{\bf t}_{b} = [t_x,t_y,t_z]^\top$ the translation from frame $ a $ to frame $ b $. The representation of a translation is a column vector of dimension 3.

Translations along x,y,z axis are expressed in meters.

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

You can set values [meters] accessing each element:

vpTranslationVector t;
t[0] = 0;
t[1] = 0.1;
t[2] = 0.5;
vpTranslationVector
Class that consider the case of a translation vector.
Definition: vpTranslationVector.h:119
vpTranslationVector::t
vpRowVector t() const
Definition: vpTranslationVector.cpp:745

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

t << 0, 0.1, 0.5;

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

t = {0, 0.1, 0.5};

To get the values [meters] use:

double tx = t[0];
double ty = t[1];
double tz = t[2];

The code below shows how to use a translation vector to build an homogeneous matrix.

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpTranslationVector.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpTranslationVector t; // Translation vector
// Initialization of the translation vector
t[0] = 0.2; // tx = 0.2 meters
t[1] = -0.1; // ty = -0.1 meters
t[2] = 1.0; // tz = 1 meters
// Construction of a rotation matrix
vpRotationMatrix R; // Set to identity by default
// Construction of an homogeneous matrix
vpHomogeneousMatrix M(t, R);
}
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:221
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition: vpRotationMatrix.h:130
VISP_NAMESPACE_NAME
Definition: vpEigenConversion.h:44
Examples
ClassUsingPclViewer.h, calibrate-hand-eye.cpp, catchAprilTag.cpp, catchNPZ.cpp, catchPoseRansac2.cpp, catchPoseVector.cpp, exponentialMap.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, perfMatrixMultiplication.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_cur_integrator.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6MegaposePBVS.cpp, servoBebop2.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimuSphere.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testDisplacement.cpp, testDisplays.cpp, testFeatureMoment.cpp, testImageDraw.cpp, testMatrixInitialization.cpp, testRealSense2_T265_images_odometry_async.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTranslationVector.cpp, testTwistMatrix.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseHapticBox.cpp, testXmlParserHomogeneousMatrix.cpp, tutorial-draw-frame.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-read.cpp, tutorial-mb-generic-tracker-save.cpp, tutorial-pf.cpp, and tutorial-ukf.cpp.

Definition at line 118 of file vpTranslationVector.h.

Constructor & Destructor Documentation

◆ vpTranslationVector() [1/6]

vpTranslationVector::vpTranslationVector ( )
inline

Default constructor. The translation vector is initialized to zero.

Definition at line 125 of file vpTranslationVector.h.

◆ vpTranslationVector() [2/6]

BEGIN_VISP_NAMESPACE vpTranslationVector::vpTranslationVector ( double  tx,
double  ty,
double  tz 
)

Construct a translation vector $ \bf t $ from 3 doubles.

Parameters
tx,ty,tz: Translation respectively along x, y and z axis. Values are in meters.

Definition at line 52 of file vpTranslationVector.cpp.

◆ vpTranslationVector() [3/6]

vpTranslationVector::vpTranslationVector ( const vpTranslationVector &  tv)

Copy constructor.

Parameters
tv: Translation vector to copy.
vpTranslationVector t1(1,2,3); // Create and initialize a translation vector
vpTranslationVector t2(t1); // t2 is now a copy of t1

Definition at line 101 of file vpTranslationVector.cpp.

◆ vpTranslationVector() [4/6]

vpTranslationVector::vpTranslationVector ( const vpHomogeneousMatrix &  M)

Construct a translation vector $ \bf t $ from the translation contained in an homogeneous matrix.

Parameters
M: Homogeneous matrix where translations are in meters.

Definition at line 69 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

◆ vpTranslationVector() [5/6]

vpTranslationVector::vpTranslationVector ( const vpPoseVector &  p)

Construct a translation vector $ \bf t $ from the translation contained in a pose vector.

Parameters
p: Pose vector where translations are in meters.

Definition at line 81 of file vpTranslationVector.cpp.

◆ vpTranslationVector() [6/6]

vpTranslationVector::vpTranslationVector ( const vpColVector &  v)

Construct a translation vector $ \bf t $ from a 3-dimension column vector.

Parameters
v: 3-dimension column vector.
vpColVector v(3);
v[0] = 1; v[1] = 2; v[2] = 3; // Create and initialize a column vector
vpTranslationVector t(v); // t contains [1, 2, 3,]
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191

Definition at line 117 of file vpTranslationVector.cpp.

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

Member Function Documentation

◆ buildFrom() [1/4]

vpTranslationVector & vpTranslationVector::buildFrom ( const double &  tx,
const double &  ty,
const double &  tz 
)

Build a 3 dimension translation vector $ \bf t$ from 3 doubles.

Parameters
tx,ty,tz: Translation respectively along x, y and z axis in meter.
Returns
The build translation vector.
See also
set()

Definition at line 198 of file vpTranslationVector.cpp.

References set().

◆ buildFrom() [2/4]

vpTranslationVector & vpTranslationVector::buildFrom ( const vpColVector &  v)

Build a 3 dimension translation vector $ \bf t$ from a 3-dimension column vector.

Parameters
v: 3-dimension column vector.
Returns
The build translation vector.

Definition at line 173 of file vpTranslationVector.cpp.

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

◆ buildFrom() [3/4]

vpTranslationVector & vpTranslationVector::buildFrom ( const vpHomogeneousMatrix &  M)

Build a 3 dimension translation vector $ \bf t$ from an homogeneous matrix $ \bf M $.

Parameters
M: Homogeneous matrix $ \bf M $ from which translation $ \bf t $ and $\theta \bf u $ vectors are extracted to initialize the pose vector.
Returns
The build translation vector.

Definition at line 138 of file vpTranslationVector.cpp.

References vpHomogeneousMatrix::extract().

◆ buildFrom() [4/4]

vpTranslationVector & vpTranslationVector::buildFrom ( const vpPoseVector &  p)

Build a 3 dimension translation vector $ \bf t$ from the translation contained in a pose vector.

Parameters
p: Pose vector where translations are in meters.
Returns
The build translation vector.

Definition at line 153 of file vpTranslationVector.cpp.

◆ 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.

Definition at line 1053 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 1067 of file vpArray2D.h.

◆ cross()

vpTranslationVector vpTranslationVector::cross ( const vpTranslationVector &  a,
const vpTranslationVector &  b 
)
static

Return the cross product of two translation vectors $a \times b$.

Parameters
a,b: Translation vectors in input.
Returns
The cross product of two translation vectors $a \times b$.
Examples
testTranslationVector.cpp.

Definition at line 736 of file vpTranslationVector.cpp.

References skew().

◆ frobeniusNorm()

double vpTranslationVector::frobeniusNorm ( ) const

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

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

Definition at line 773 of file vpTranslationVector.cpp.

References sumSquare().

◆ getCols()

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

Return the number of columns of the 2D array.

See also
getRows(), size()
Examples
catchAprilTag.cpp, catchArray2D.cpp, catchJsonArrayConversion.cpp, catchLuminanceMapping.cpp, catchMatrixCholesky.cpp, catchPoseVector.cpp, catchRotation.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 337 of file vpArray2D.h.

◆ getMaxValue()

double vpArray2D< double >::getMaxValue
inherited

Return the array max value.

Examples
servoMomentImage.cpp.

Definition at line 339 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue
inherited

Return the array min value.

Examples
servoMomentImage.cpp.

Definition at line 341 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
catchAprilTag.cpp, catchArray2D.cpp, catchJsonArrayConversion.cpp, catchLuminanceMapping.cpp, catchMatrixCholesky.cpp, catchParticleFilter.cpp, catchPoseVector.cpp, catchRotation.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, perfColVectorOperations.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 347 of file vpArray2D.h.

◆ 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 641 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 1081 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 497 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 669 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 783 of file vpArray2D.h.

◆ mean() [1/2]

vpTranslationVector vpTranslationVector::mean ( const std::vector< vpHomogeneousMatrix > &  vec_M)
static

Compute the Euclidean mean of the translation vector extracted from a vector of homogeneous matrices.

Parameters
[in]vec_M: Set of homogeneous matrices.
Returns
The Euclidean mean of the translation vectors.
See also
vpRotationMatrix::mean()

Definition at line 806 of file vpTranslationVector.cpp.

References t().

◆ mean() [2/2]

vpTranslationVector vpTranslationVector::mean ( const std::vector< vpTranslationVector > &  vec_t)
static

Compute the Euclidean mean of a vector of translation vector.

Parameters
[in]vec_t: Set of translation vectors.
Returns
The Euclidean mean of the translation vectors.
See also
vpRotationMatrix::mean()

Definition at line 827 of file vpTranslationVector.cpp.

References t().

◆ operator!=()

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

Not equal to comparison operator of a 2D array.

Definition at line 523 of file vpArray2D.h.

◆ operator*() [1/2]

vpMatrix vpTranslationVector::operator* ( const vpRowVector &  v) const

Multiply a 3-by-1 dimension translation vector by a 1-by-n row vector.

Parameters
v: Row vector.
Returns
The resulting matrix that is 3-by-n dimension.

Definition at line 375 of file vpTranslationVector.cpp.

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

◆ operator*() [2/2]

vpTranslationVector vpTranslationVector::operator* ( double  x) const

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

Parameters
x: The scalar.
Returns
The translation vector multiplied by the scalar. The current translation vector (*this) is unchanged.
vpTranslationVector t1(1,2,3);
t2 = t1 * 3;
// t1 is unchanged
// t2 is now equal to : [3, 6, 9]

Definition at line 356 of file vpTranslationVector.cpp.

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

◆ operator*=()

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

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

Parameters
x: The scalar.
Returns
The translation vector multiplied by the scalar.

Definition at line 395 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

◆ operator+() [1/2]

vpTranslationVector vpTranslationVector::operator+ ( const vpColVector &  v) const

Operator that allows to add a translation vector to a column vector.

Parameters
v: 3-dimension column vector to add.
Returns
The sum of the current translation vector (*this) and the column vector to add.
vpTranslationVector t1(1,2,3);
vpColVector v(3);
v[0] = 4;
v[1] = 5;
v[2] = 6;
vpTranslationVector t2;
t2 = t1 + v;
// t1 and v leave unchanged
// t2 is now equal to : 5, 7, 9

Definition at line 270 of file vpTranslationVector.cpp.

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

◆ operator+() [2/2]

vpTranslationVector vpTranslationVector::operator+ ( const vpTranslationVector &  tv) const

Operator that allows to add two translation vectors.

Parameters
tv: Translation vector to add.
Returns
The sum of the current translation vector (*this) and the one to add.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2(4,5,6);
vpTranslationVector t3;
t3 = t2 + t1;
// t1 and t2 leave unchanged
// t3 is now equal to : 5, 7, 9

Definition at line 238 of file vpTranslationVector.cpp.

◆ operator,()

vpTranslationVector & vpTranslationVector::operator, ( double  val)

Set vector second and third element values.

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

The following example shows how to initialize a translations vector from a list of 3 values [meter].

#include <visp3/core/vpTranslationVector.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpTranslationVector t;
t << 0, 0.1, 0.5;
std::cout << "t: " << t.t() << std::endl;
}
vpRowVector::t
vpColVector t() const
Definition: vpRowVector.cpp:529

It produces the following printings:

t: 0 0.1 0.5
See also
operator<<()

Definition at line 630 of file vpTranslationVector.cpp.

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

◆ operator-() [1/2]

vpTranslationVector vpTranslationVector::operator- ( void  ) const

Operator that allows to negate a translation vector.

Returns
The negate translation. The current translation vector (*this) is unchanged.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2;
t2 = -t1;
// t1 is unchanged
// t2 is now equal to : [-1, -2, -3]

Definition at line 330 of file vpTranslationVector.cpp.

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

◆ operator-() [2/2]

vpTranslationVector vpTranslationVector::operator- ( const vpTranslationVector &  tv) const

Operator that allows to subtract two translation vectors.

Parameters
tv: Translation vector to subtract.
Returns
The subtraction of the current translation vector (*this) and the one to subtract.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2(4,5,6);
vpTranslationVector t3;
t3 = t2 - t1;
// t1 and t2 leave unchanged
// t3 is now equal to : 3, 3, 3

Definition at line 304 of file vpTranslationVector.cpp.

◆ operator/()

vpTranslationVector vpTranslationVector::operator/ ( double  x) const

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

Parameters
x: The scalar.
Returns
The translation vector divided by the scalar. The current translation vector (*this) is unchanged.
vpTranslationVector t1(8,4,2);
t2 = t1 / 2;
// t1 is unchanged
// t2 is now equal to : [4, 2, 1]

Definition at line 434 of file vpTranslationVector.cpp.

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

◆ operator/=()

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

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

Parameters
x: The scalar.
Returns
The column vector divided by the scalar.

Definition at line 410 of file vpTranslationVector.cpp.

References vpArray2D< double >::rowNum.

◆ operator<<()

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

Set vector first element value.

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

The following example shows how to initialize a translation vector from a list of 3 values [meter].

#include <visp3/core/vpTranslationVector.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpTranslationVector t;
t << 0, 0.1, 0.5;
std::cout << "t: " << t.t() << std::endl;
}

It produces the following printings:

t: 0 0.1 0.5
See also
operator,()

Definition at line 596 of file vpTranslationVector.cpp.

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

◆ operator=() [1/4]

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

Set vector from a list of 3 double values in meters.

#include <visp3/core/vpTranslationVector.cpp>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpTranslationVector t = {0, 0.1, 0.5};
std::cout << "t: " << t.t() << std::endl;
}

It produces the following printings:

t: 0 0.1 0.5
See also
operator<<()

Definition at line 556 of file vpTranslationVector.cpp.

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

◆ operator=() [2/4]

vpTranslationVector & vpTranslationVector::operator= ( const vpColVector &  tv)

Copy operator.

Parameters
tv: Translation vector to copy
Returns
A copy of tv.
vpColVector t1(3);
t1[0] = 1;
t1[1] = 2;
t1[2] = 3;
vpTranslationVector t2;
t2 = t1;
// t1 is unchanged
// t2 is now equal to t1 : 1, 2, 3

Definition at line 460 of file vpTranslationVector.cpp.

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

◆ operator=() [3/4]

vpTranslationVector & vpTranslationVector::operator= ( const vpTranslationVector &  tv)

Copy operator.

Parameters
tv: Translation vector to copy
Returns
A copy of tv.
vpTranslationVector t1(1,2,3);
vpTranslationVector t2;
t2 = t1;
// t1 is unchanged
// t2 is now equal to t1 : 1, 2, 3

Definition at line 495 of file vpTranslationVector.cpp.

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

◆ operator=() [4/4]

vpTranslationVector & vpTranslationVector::operator= ( double  x)

Initialize each element of a translation vector to the same value x.

Parameters
x: Value to set for each element of the translation vector.
vpTranslationVector t;
t = 3;
// Here t is set to 3,3,3

Definition at line 523 of file vpTranslationVector.cpp.

References vpArray2D< double >::data.

◆ operator==()

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

Equal to comparison operator of a 2D array.

Definition at line 519 of file vpArray2D.h.

◆ operator[]() [1/2]

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

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

Definition at line 163 of file vpTranslationVector.h.

◆ operator[]() [2/2]

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

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

Definition at line 165 of file vpTranslationVector.h.

◆ reshape()

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

Definition at line 456 of file vpArray2D.h.

◆ resize() [1/2]

void vpTranslationVector::resize ( unsigned int  nrows,
unsigned int  ncols,
bool  flagNullify = true 
)
inline

This function is not applicable to a translation vector that is always a 3-by-1 column vector.

Exceptions
vpException::fatalErrorWhen this function is called.

Definition at line 175 of file vpTranslationVector.h.

References vpException::fatalError.

Referenced by operator=().

◆ resize() [2/2]

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
catchArray2D.cpp, catchJsonArrayConversion.cpp, catchParticleFilter.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 362 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 874 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");
vpArray2D::saveYAML
static bool saveYAML(const std::string &filename, const vpArray2D< Type > &A, const char *header="")
Definition: vpArray2D.h:972

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]
vpArray2D< double >::data
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:148

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 972 of file vpArray2D.h.

◆ set()

void vpTranslationVector::set ( double  tx,
double  ty,
double  tz 
)

Initialize a translation vector from 3 doubles.

Parameters
tx,ty,tz: Translation respectively along x, y and z axis in meter.
Examples
testTranslationVector.cpp.

Definition at line 210 of file vpTranslationVector.cpp.

Referenced by buildFrom(), and vpPioneerPan::set_mMp().

◆ size()

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

Return the number of elements of the 2D array.

Examples
catchJsonArrayConversion.cpp, catchLuminanceMapping.cpp, catchParticleFilter.cpp, catchPoseVector.cpp, catchRotation.cpp, perfColVectorOperations.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRowVector.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.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-pf.cpp, tutorial-ukf.cpp, ukf-nonlinear-complex-example.cpp, and ukf-nonlinear-example.cpp.

Definition at line 349 of file vpArray2D.h.

◆ skew() [1/3]

vpMatrix vpTranslationVector::skew ( ) const

Compute the skew symmetric matrix $M$ of the translation vector (matrice de pre-produit vectoriel), where

\[ M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right) \]

and where $(t_x,t_y,t_z)$ are the coordinates of the translation vector.

Returns
Skew symmetric matrix $M$ of the translation vector.
Examples
testTranslationVector.cpp.

Definition at line 720 of file vpTranslationVector.cpp.

Referenced by cross(), vpViper::get_eJe(), and skew().

◆ skew() [2/3]

vpMatrix vpTranslationVector::skew ( const vpTranslationVector &  tv)
static

Compute the skew symmetric matrix $M$ of translation vector tv.

\[ \mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z \end{array}\right), \quad \mbox{then} \qquad M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right) \]

Parameters
tv: Translation vector in input.
Returns
Skew symmetric matrix $M$ of translation vector $t$.

Definition at line 695 of file vpTranslationVector.cpp.

References skew().

◆ skew() [3/3]

void vpTranslationVector::skew ( const vpTranslationVector &  tv,
vpMatrix &  M 
)
static

Compute the skew symmetric matrix $M$ of translation vector tv.

\[ \mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z \end{array}\right), \quad \mbox{then} \qquad M = \left( \begin{array}{ccc} 0 & -t_z & t_y \\ t_z & 0 & -t_x \\ -t_y & t_x & 0 \end{array}\right) \]

Parameters
tv: Translation vector in input used to compute the skew symmetric matrix M.
M: Skew symmetric matrix of translation vector $t$.

Definition at line 660 of file vpTranslationVector.cpp.

References vpArray2D< Type >::resize().

◆ sumSquare()

double vpTranslationVector::sumSquare ( ) const

Return the sum square of all the elements $t_{i}$ of the translation vector t(m).

Returns
The value

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

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

Definition at line 786 of file vpTranslationVector.cpp.

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

Referenced by frobeniusNorm().

◆ t()

vpRowVector vpTranslationVector::t ( ) const

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

Examples
servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, testDisplacement.cpp, testMatrixInitialization.cpp, testPixhawkDronePositionAbsoluteControl.cpp, testPixhawkDronePositionRelativeControl.cpp, testPixhawkDroneTakeoff.cpp, testRobotViper850.cpp, testViper650.cpp, testViper850.cpp, tutorial-homography-from-points.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 745 of file vpTranslationVector.cpp.

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

Referenced by mean().

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 1096 of file vpArray2D.h.

◆ operator!=()

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

Definition at line 1351 of file vpArray2D.h.

◆ operator==() [1/2]

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

Definition at line 1313 of file vpArray2D.h.

◆ operator==() [2/2]

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

Definition at line 1332 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);
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:414

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 414 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 53 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 1103 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

Examples
catchArray2D.cpp, catchQuaternion.cpp, catchRotation.cpp, perfMatrixMultiplication.cpp, testDisplacement.cpp, testMatrix.cpp, testTranslationVector.cpp, testUniversalRobotsGetData.cpp, tutorial-bridge-opencv-matrix.cpp, and tutorial-matlab.cpp.

Definition at line 148 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 1107 of file vpArray2D.h.

◆ m_index

unsigned int vpTranslationVector::m_index
protected

Definition at line 208 of file vpTranslationVector.h.

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

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 1101 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 1105 of file vpArray2D.h.