44 #ifndef VPHOMOGENEOUSMATRIX_HH
45 #define VPHOMOGENEOUSMATRIX_HH
59 #include <visp3/core/vpArray2D.h>
60 #include <visp3/core/vpRotationMatrix.h>
61 #include <visp3/core/vpThetaUVector.h>
63 #include <visp3/core/vpPoseVector.h>
169 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
181 void buildFrom(
const std::vector<float> &v);
182 void buildFrom(
const std::vector<double> &v);
183 void buildFrom(
double tx,
double ty,
double tz,
double tux,
double tuy,
double tuz);
185 void convert(std::vector<float> &M);
186 void convert(std::vector<double> &M);
202 bool isAnHomogeneousMatrix(
double threshold = 1e-6)
const;
203 bool isValid()
const;
216 void load(std::ifstream &f);
218 void save(std::ofstream &f)
const;
233 void orthogonalizeRotation();
242 void resize(
unsigned int nrows,
unsigned int ncols,
bool flagNullify =
true)
250 static vpHomogeneousMatrix compute3d3dTransformation(
const std::vector<vpPoint> &p,
const std::vector<vpPoint> &q);
254 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
267 vp_deprecated
void setIdentity();
Implementation of a generic 2D array used as base class for matrices and vectors.
static bool load(const std::string &filename, vpArray2D< Type > &A, bool binary=false, char *header=NULL)
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
vpArray2D< Type > & operator=(Type x)
Set all the elements of the array to x.
static bool save(const std::string &filename, const vpArray2D< Type > &A, bool binary=false, const char *header="")
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)
vp_deprecated void init()
virtual ~vpHomogeneousMatrix()
Implementation of a matrix and operations on matrices.
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Implementation of a pose vector and operations on poses.
Implementation of a rotation vector as quaternion angle minimal representation.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.
vpColVector operator*(const double &x, const vpColVector &v)