Visual Servoing Platform  version 3.6.1 under development (2024-04-16)
vpRotationVector.cpp
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30  *
31  * Description:
32  * Generic rotation vector (cannot be used as is !).
33  *
34 *****************************************************************************/
35 
36 #include <algorithm>
37 #include <math.h>
38 
39 #include <visp3/core/vpColVector.h>
40 #include <visp3/core/vpRotationVector.h>
41 #include <visp3/core/vpRowVector.h>
42 
54 {
55  vpRowVector v(dsize);
56 
57  for (unsigned int i = 0; i < dsize; ++i) {
58  v[i] = data[i];
59  }
60 
61  return v;
62 }
63 
68 std::vector<double> vpRotationVector::toStdVector() const
69 {
70  std::vector<double> v(this->size());
71 
72  unsigned int this_size = this->size();
73  for (unsigned int i = 0; i < this_size; ++i) {
74  v[i] = data[i];
75  }
76  return v;
77 }
78 
90 {
91  vpColVector v(dsize);
92 
93  for (unsigned int i = 0; i < dsize; ++i) {
94  v[i] = (*this)[i] * x;
95  }
96  return v;
97 }
98 
103 vpColVector operator*(const double &x, const vpRotationVector &v)
104 {
105  vpColVector vout;
106  vout = v * x;
107  return vout;
108 }
109 
134 {
135  m_index = 0;
136  data[m_index] = val;
137  return *this;
138 }
139 
164 {
165  m_index++;
166  if (m_index >= size()) {
168  "Cannot set rotation vector out of bounds. It has only %d elements while you try to initialize "
169  "with %d elements",
170  size(), m_index + 1));
171  }
172  data[m_index] = val;
173  return *this;
174 }
175 
183 {
184  double sum_square = 0.0;
185 
186  for (unsigned int i = 0; i < rowNum; ++i) {
187  double x = rowPtrs[i][0];
188  sum_square += x * x;
189  }
190 
191  return sum_square;
192 }
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:139
double ** rowPtrs
Address of the first element of each rows.
Definition: vpArray2D.h:133
unsigned int rowNum
Number of rows in the array.
Definition: vpArray2D.h:129
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:135
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:326
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ dimensionError
Bad dimension.
Definition: vpException.h:83
Implementation of a generic rotation vector.
unsigned int m_index
double sumSquare() const
vpRotationVector & operator<<(double val)
std::vector< double > toStdVector() const
vpColVector operator*(double x) const
vpColVector operator*(const double &x, const vpRotationVector &v)
vpRotationVector & operator,(double val)
vpRowVector t() const
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:107