Visual Servoing Platform  version 3.6.0 under development (2023-09-25)
vpTranslationVector.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Translation vector.
32  */
33 
34 #ifndef vpTRANSLATIONVECTOR_H
35 #define vpTRANSLATIONVECTOR_H
36 
42 #include <visp3/core/vpArray2D.h>
43 #include <visp3/core/vpHomogeneousMatrix.h>
44 #include <visp3/core/vpMatrix.h>
45 #include <visp3/core/vpPoseVector.h>
46 
113 class VISP_EXPORT vpTranslationVector : public vpArray2D<double>
114 {
115 public:
120  vpTranslationVector() : vpArray2D<double>(3, 1), m_index(0) { };
121  vpTranslationVector(double tx, double ty, double tz);
123  explicit vpTranslationVector(const vpHomogeneousMatrix &M);
124  explicit vpTranslationVector(const vpPoseVector &p);
125  explicit vpTranslationVector(const vpColVector &v);
126 
127  vpTranslationVector buildFrom(double tx, double ty, double tz);
128  vpTranslationVector buildFrom(const vpHomogeneousMatrix &M);
129  vpTranslationVector buildFrom(const vpPoseVector &p);
130  vpTranslationVector buildFrom(const vpColVector &v);
131 
132  double frobeniusNorm() const;
133 
134  // operators
135 
136  // translation vectors additions c = a + b (a, b unchanged)
137  vpTranslationVector operator+(const vpTranslationVector &tv) const;
138  vpTranslationVector operator+(const vpColVector &v) const;
139  // translation vectors subtraction c = a - b (a, b unchanged)
140  vpTranslationVector operator-(const vpTranslationVector &tv) const;
141  // negate t = -a (t is unchanged)
142  vpTranslationVector operator-() const;
143  vpMatrix operator*(const vpRowVector &v) const;
144  // b = x * a (x=scalar)
145  vpTranslationVector operator*(double x) const;
146  vpTranslationVector &operator*=(double x);
147  vpTranslationVector operator/(double x) const;
148  vpTranslationVector &operator/=(double x);
149  // Copy operator. Allow operation such as A = v
152  vpTranslationVector &operator=(double x);
153 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
154  vpTranslationVector &operator=(const std::initializer_list<double> &list);
155 #endif
156 
158  inline double &operator[](unsigned int n) { return *(data + n); }
160  inline const double &operator[](unsigned int n) const { return *(data + n); }
161 
162  vpTranslationVector &operator<<(double val);
163  vpTranslationVector &operator,(double val);
164 
170  void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
171  {
172  (void)nrows;
173  (void)ncols;
174  (void)flagNullify;
175  throw(vpException(vpException::fatalError, "Cannot resize a translation vector"));
176  };
177 
178  void set(double tx, double ty, double tz);
179 
180  // Skew Symmetric matrix
181  vpMatrix skew() const;
182 
183  double sumSquare() const;
184 
185  vpRowVector t() const;
186 
187  static vpTranslationVector cross(const vpTranslationVector &a, const vpTranslationVector &b);
188  static vpTranslationVector mean(const std::vector<vpHomogeneousMatrix> &vec_M);
189  static vpTranslationVector mean(const std::vector<vpTranslationVector> &vec_t);
190  static vpMatrix skew(const vpTranslationVector &tv);
191  static void skew(const vpTranslationVector &tv, vpMatrix &M);
192 
193 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
198  vp_deprecated double euclideanNorm() const;
199  //}
200 #endif
201 
202 protected:
203  unsigned int m_index; // index used for operator<< and operator, to fill a vector
204 };
205 
206 #endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:131
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:529
vpArray2D< Type > t() const
Compute the transpose of the array.
Definition: vpArray2D.h:1059
vpArray2D< Type > & operator=(Type x)
Set all the elements of the array to x.
Definition: vpArray2D.h:445
Implementation of column vector and the associated operations.
Definition: vpColVector.h:167
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ fatalError
Fatal error.
Definition: vpException.h:84
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:192
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:111
Class that consider the case of a translation vector.
double & operator[](unsigned int n)
Operator that allows to set a value of an element : t[i] = x.
const double & operator[](unsigned int n) const
Operator that allows to get the value of an element : x = t[i].
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)
vpColVector operator*(const double &x, const vpColVector &v)