Visual Servoing Platform  version 3.2.1 under development (2019-10-23) under development (2019-10-23)
vpRotationVector.h
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30  *
31  * Description:
32  * Generic rotation vector (cannot be used as is !).
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpRotationVECTOR_H
40 #define vpRotationVECTOR_H
41 
48 #include <iostream>
49 #include <math.h>
50 #include <stdio.h>
51 
52 #include <visp3/core/vpArray2D.h>
53 
54 class vpRowVector;
55 class vpColVector;
56 
100 class VISP_EXPORT vpRotationVector : public vpArray2D<double>
101 {
102 public:
104  vpRotationVector() : vpArray2D<double>(), m_index(0) {}
105 
108  explicit vpRotationVector(const unsigned int n) : vpArray2D<double>(n, 1), m_index(0) {}
109 
113  vpRotationVector(const vpRotationVector &v) : vpArray2D<double>(v), m_index(0) {}
114 
118  virtual ~vpRotationVector(){};
119 
122 
127  inline double &operator[](unsigned int i) { return *(data + i); }
132  inline const double &operator[](unsigned int i) const { return *(data + i); }
133 
138  {
139  resize(v.size(), 1);
140  for (unsigned int i = 0; i < v.size(); i++) {
141  data[i] = v.data[i];
142  }
143  return *this;
144  }
145 
146  vpColVector operator*(double x) const;
147 
148  vpRotationVector &operator<<(double val);
149  vpRotationVector &operator,(double val);
150 
151  double sumSquare() const;
152 
153  // Transpose of the rotation vector.
154  vpRowVector t() const;
155 
156  std::vector<double> toStdVector();
157 
159 
160 protected:
161  unsigned int m_index; // index used for operator<< and operator, to fill a vector
162 };
163 
164 #ifndef DOXYGEN_SHOULD_SKIP_THIS
165 VISP_EXPORT
166 #endif
167 vpColVector operator*(const double &x, const vpRotationVector &v);
168 
169 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
virtual ~vpRotationVector()
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:115
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
Definition: vpArray2D.h:305
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
Implementation of a generic 2D array used as base class for matrices and vectors. ...
Definition: vpArray2D.h:131
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
vpRotationVector(const vpRotationVector &v)
vpRotationVector(const unsigned int n)
vpColVector operator*(const double &x, const vpColVector &v)
unsigned int m_index
vpRotationVector()
Constructor that constructs a 0-size rotation vector.
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:495
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
const double & operator[](unsigned int i) const
double & operator[](unsigned int i)