Visual Servoing Platform  version 3.2.1 under development (2019-07-16)
vpSubMatrix.cpp
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30  *
31  * Description:
32  * Mask on a vpMatrix .
33  *
34  * Authors:
35  * Laneurit Jean
36  *
37  *****************************************************************************/
38 
39 #include <stdlib.h>
40 #include <visp3/core/vpDebug.h>
41 #include <visp3/core/vpException.h>
42 #include <visp3/core/vpMatrixException.h>
43 #include <visp3/core/vpSubMatrix.h>
44 
45 vpSubMatrix::vpSubMatrix() : pRowNum(0), pColNum(0), parent(NULL) {}
46 
55 vpSubMatrix::vpSubMatrix(vpMatrix &m, const unsigned int &row_offset, const unsigned int &col_offset,
56  const unsigned int &nrows, const unsigned int &ncols)
57  : pRowNum(0), pColNum(0), parent(NULL)
58 {
59  init(m, row_offset, col_offset, nrows, ncols);
60 }
61 
70 void vpSubMatrix::init(vpMatrix &m, const unsigned int &row_offset, const unsigned int &col_offset,
71  const unsigned int &nrows, const unsigned int &ncols)
72 {
73 
74  if (!m.data) {
75  throw(vpMatrixException(vpMatrixException::subMatrixError, "SubMatrix parent matrix is not allocated"));
76  }
77 
78  if (row_offset + nrows <= m.getRows() && col_offset + ncols <= m.getCols()) {
79  data = m.data;
80  parent = &m;
81  rowNum = nrows;
82  colNum = ncols;
83  pRowNum = m.getRows();
84  pColNum = m.getCols();
85 
86  if (rowPtrs)
87  free(rowPtrs);
88 
89  rowPtrs = (double **)malloc(nrows * sizeof(double *));
90  for (unsigned int r = 0; r < nrows; r++)
91  rowPtrs[r] = m.data + col_offset + (r + row_offset) * pColNum;
92 
93  dsize = pRowNum * pColNum;
94  } else {
95  throw(
96  vpMatrixException(vpMatrixException::incorrectMatrixSizeError, "Submatrix cannot be contain in parent matrix"));
97  }
98 }
99 
105 {
106  if (!data) {
108  "vpSubMatrix parent vpMatrix has been destroyed"));
109  }
110  if (pRowNum != parent->getRows() || pColNum != parent->getCols()) {
112  "vpSubMatrix size of parent vpMatrix has been changed"));
113  }
114 }
115 
121 {
122 
123  if ((colNum != B.getCols()) || (rowNum != B.getRows())) {
125  "vpSubMatrix mismatch in operator vpSubMatrix=vpMatrix"));
126  }
127 
128  for (unsigned int i = 0; i < rowNum; i++) {
129  for (unsigned int j = 0; j < colNum; j++)
130  rowPtrs[i][j] = B[i][j];
131  }
132 
133  return *this;
134 }
135 
141 {
142 
143  if ((colNum != B.getCols()) || (rowNum != B.getRows())) {
145  "vpSubMatrix mismatch in operator vpSubMatrix=vpMatrix"));
146  }
147 
148  pRowNum = B.pRowNum;
149  pColNum = B.pColNum;
150  parent = B.parent;
151 
152  double **BrowPtrs = B.rowPtrs;
153 
154  for (unsigned int i = 0; i < rowNum; i++) {
155  for (unsigned int j = 0; j < colNum; j++)
156  rowPtrs[i][j] = BrowPtrs[i][j];
157  }
158 
159  return *this;
160 }
161 
167 {
168  for (unsigned int i = 0; i < rowNum; i++) {
169  for (unsigned int j = 0; j < colNum; j++)
170  rowPtrs[i][j] = x;
171  }
172 
173  return *this;
174 }
175 
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
void checkParentStatus() const
Check is parent vpRowVector has changed since initialization.
unsigned int pColNum
Definition: vpSubMatrix.h:75
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int getCols() const
Definition: vpArray2D.h:279
Definition of the vpSubMatrix vpSubMatrix class provides a mask on a vpMatrix all properties of vpMat...
Definition: vpSubMatrix.h:62
unsigned int rowNum
Number of rows in the array.
Definition: vpArray2D.h:135
virtual ~vpSubMatrix()
Destructor.
vp_deprecated void init()
Definition: vpMatrix.h:831
unsigned int getRows() const
Definition: vpArray2D.h:289
unsigned int pRowNum
Definition: vpSubMatrix.h:74
unsigned int colNum
Number of columns in the array.
Definition: vpArray2D.h:137
vpMatrix * parent
Definition: vpSubMatrix.h:76
vpSubMatrix & operator=(const vpSubMatrix &B)
Operation such as subA = subB.
error that can be emited by the vpMatrix class and its derivates
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:141
double ** rowPtrs
Address of the first element of each rows.
Definition: vpArray2D.h:139
vpSubMatrix()
Default constructor.
Definition: vpSubMatrix.cpp:45