Visual Servoing Platform  version 3.6.1 under development (2024-03-18)
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  return v;
61 }
62 
67 std::vector<double> vpRotationVector::toStdVector() const
68 {
69  std::vector<double> v(this->size());
70 
71  for (unsigned int i = 0; i < this->size(); i++)
72  v[i] = data[i];
73  return v;
74 }
75 
87 {
88  vpColVector v(dsize);
89 
90  for (unsigned int i = 0; i < dsize; i++)
91  v[i] = (*this)[i] * x;
92  return v;
93 }
94 
99 vpColVector operator*(const double &x, const vpRotationVector &v)
100 {
101  vpColVector vout;
102  vout = v * x;
103  return vout;
104 }
105 
130 {
131  m_index = 0;
132  data[m_index] = val;
133  return *this;
134 }
135 
160 {
161  m_index++;
162  if (m_index >= size()) {
164  "Cannot set rotation vector out of bounds. It has only %d elements while you try to initialize "
165  "with %d elements",
166  size(), m_index + 1));
167  }
168  data[m_index] = val;
169  return *this;
170 }
171 
179 {
180  double sum_square = 0.0;
181 
182  for (unsigned int i = 0; i < rowNum; i++) {
183  double x = rowPtrs[i][0];
184  sum_square += x * x;
185  }
186 
187  return sum_square;
188 }
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:138
double ** rowPtrs
Address of the first element of each rows.
Definition: vpArray2D.h:132
unsigned int rowNum
Number of rows in the array.
Definition: vpArray2D.h:128
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:134
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:286
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