Visual Servoing Platform  version 3.5.1 under development (2022-12-04)
vpSubColVector.cpp
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30  *
31  * Description:
32  * Mask on a vpColVector.
33  *
34  * Authors:
35  * Laneurit Jean
36  *
37  *****************************************************************************/
38 
39 #include <stdlib.h>
40 
41 #include <visp3/core/vpException.h>
42 #include <visp3/core/vpSubColVector.h>
43 
45 vpSubColVector::vpSubColVector() : vpColVector(), pRowNum(0), parent(NULL) {}
46 
53 vpSubColVector::vpSubColVector(vpColVector &v, const unsigned int &offset, const unsigned int &nrows)
54  : vpColVector(), pRowNum(0), parent(NULL)
55 {
56  init(v, offset, nrows);
57 }
58 
65 void vpSubColVector::init(vpColVector &v, const unsigned int &offset, const unsigned int &nrows)
66 {
67  if (!v.data) {
68  throw(vpException(vpException::fatalError, "Cannot initialize a "
69  "sub-column vector from an "
70  "empty parent column vector"));
71  }
72 
73  if (offset + nrows <= v.getRows()) {
74  data = v.data + offset;
75 
76  rowNum = nrows;
77  colNum = 1;
78 
79  pRowNum = v.getRows();
80  parent = &v;
81 
82  if (rowPtrs) {
83  free(rowPtrs);
84  }
85 
86  rowPtrs = (double **)malloc(parent->getRows() * sizeof(double *));
87  for (unsigned int i = 0; i < nrows; i++)
88  rowPtrs[i] = v.data + i + offset;
89 
90  dsize = rowNum;
91  } else {
92  throw(vpException(vpException::dimensionError, "Cannot create a sub-column vector that is not "
93  "completely contained in the parrent column vector"));
94  }
95 }
96 
99 
106 {
107  if (!data) {
108  throw(vpException(vpException::fatalError, "The parent of the current sub-column vector has been destroyed"));
109  }
110  if (pRowNum != parent->getRows()) {
111  throw(vpException(vpException::dimensionError, "The size of the parent sub-column vector has changed"));
112  }
113 }
114 
123 {
124  if (rowNum != B.getRows()) {
126  "Cannot initialize (%dx1) sub-column vector from "
127  "(%dx1) sub-column vector",
128  rowNum, B.getRows()));
129  }
130  pRowNum = B.pRowNum;
131  for (unsigned int i = 0; i < rowNum; i++)
132  data[i] = B[i];
133  return *this;
134 }
135 
142 {
143  if (rowNum != B.getRows()) {
145  "Cannot initialize (%dx1) sub-column vector from "
146  "(%dx1) column vector",
147  rowNum, B.getRows()));
148  }
149 
150  for (unsigned int i = 0; i < rowNum; i++)
151  data[i] = B[i];
152 
153  return *this;
154 }
155 
162 {
163  if ((B.getCols() != 1) || (rowNum != B.getRows())) {
164  throw(vpException(vpException::dimensionError, "Cannot initialize (%dx1) sub-column vector from (%dx%d) matrix",
165  rowNum, B.getRows(), B.getCols()));
166  }
167 
168  for (unsigned int i = 0; i < rowNum; i++)
169  data[i] = B[i][1];
170  return *this;
171 }
172 
178 {
179  for (unsigned int i = 0; i < rowNum; i++)
180  data[i] = x;
181  return *this;
182 }
183 
188 {
189  unsigned int k = tv.getRows();
190  if (rowNum != k) {
191  try {
192  resize(k);
193  } catch (...) {
194  throw;
195  }
196  }
197 
198  memcpy(data, tv.data, rowNum * sizeof(double));
199  return *this;
200 }
205 {
206  unsigned int k = rv.getRows();
207  if (rowNum != k) {
208  try {
209  resize(k);
210  } catch (...) {
211  throw;
212  }
213  }
214 
215  memcpy(data, rv.data, rowNum * sizeof(double));
216  return *this;
217 }
222 {
223  unsigned int k = p.getRows();
224  if (rowNum != k) {
225  try {
226  resize(k);
227  } catch (...) {
228  throw;
229  }
230  }
231 
232  memcpy(data, p.data, rowNum * sizeof(double));
233  return *this;
234 }
unsigned int getCols() const
Definition: vpArray2D.h:281
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
double ** rowPtrs
Address of the first element of each rows.
Definition: vpArray2D.h:139
unsigned int rowNum
Number of rows in the array.
Definition: vpArray2D.h:135
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:141
unsigned int getRows() const
Definition: vpArray2D.h:291
unsigned int colNum
Number of columns in the array.
Definition: vpArray2D.h:137
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vp_deprecated void init()
Definition: vpColVector.h:380
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:314
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ dimensionError
Bad dimension.
Definition: vpException.h:95
@ fatalError
Fatal error.
Definition: vpException.h:96
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
Implementation of a generic rotation vector.
void checkParentStatus() const
vpColVector * parent
Parent vpColvector.
vpSubColVector & operator=(const vpSubColVector &B)
virtual ~vpSubColVector()
Destructor that set the pointer to the parrent column vector to NULL.
unsigned int pRowNum
Number of row of parent vpColvector at initialization.
vpSubColVector()
Default constructor that creates an empty vector.
Class that consider the case of a translation vector.