RotationVector¶

class RotationVector(*args, **kwargs)¶

Bases: ArrayDouble2D

Implementation of a generic rotation vector.

Class that consider the case of a generic rotation vector (cannot be used as is !) consisting in three or four angles.

The vpRotationVector class is derived from vpArray2D<double> . The vpRotationVector class is also the base class of specific rotations vectors such as vpThetaUVector , vpRxyzVector , vpRzyxVector , vpRzyzVector and vpQuaternionVector .

The code below shows how this class can be used to manipulate a vpRxyzVector .

#include <iostream>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRxyzVector.h>

int main()
{
  vpRxyzVector r;         // By default initialized to zero
  // Rotation around x set to 45 degres converted in radians
  r[0] = vpMath::rad(45);
  // Rotation around y set to PI radians
  r[1] = M_PI;
  // Rotation around z set to 0 radians
  r[2] = 0;

  std::cout << "Rxyz rotation vector: " << r << std::endl;

  double rx = r[0];       // Get the value of the angle around x axis
  double ry = r[1];       // Get the value of the angle around y axis
  double rz = r[2];       // Get the value of the angle around z axis
}

Overloaded function.

__init__(self: visp._visp.core.RotationVector) -> None

Constructor that constructs a 0-size rotation vector.

__init__(self: visp._visp.core.RotationVector, n: int) -> None

Constructor that constructs a vector of size n and initialize all values to zero.

__init__(self: visp._visp.core.RotationVector, v: visp._visp.core.RotationVector) -> None

Copy operator.

Methods

`__init__`	Overloaded function.
`sumSquare`	Return the sum square of all the elements \(r_{i}\) of the rotation vector r(m).
`t`	Overloaded function.
`toStdVector`	return: The corresponding std::vector<double>.

Inherited Methods

`insert`	Overloaded function.
`getCols`	Return the number of columns of the 2D array.
`insertStatic`	Insert array B in array A at the given position.
`save`	Overloaded function.
`reshape`
`getRows`	Return the number of rows of the 2D array.
`size`	Return the number of elements of the 2D array.
`getMinValue`	Return the array min value.
`getMaxValue`	Return the array max value.
`hadamard`	param m: Second matrix;
`saveYAML`	Save an array in a YAML-formatted file.
`conv2`	Overloaded function.
`numpy`	Numpy view of the underlying array data.
`resize`	Set the size of the array and initialize all the values to zero.

Operators

`__annotations__`
`__doc__`
`__init__`	Overloaded function.
`__module__`
`__mul__`	Overloaded function.

Attributes

`__annotations__`
`__hash__`

__eq__(*args, **kwargs)¶

Overloaded function.

__eq__(self: visp._visp.core.ArrayDouble2D, A: visp._visp.core.ArrayDouble2D) -> bool

Equal to comparison operator of a 2D array.

__eq__(self: visp._visp.core.ArrayDouble2D, A: visp._visp.core.ArrayDouble2D) -> bool

Equal to comparison operator of a 2D array.

__eq__(self: visp._visp.core.ArrayDouble2D, A: visp._visp.core.ArrayDouble2D) -> bool

Equal to comparison operator of a 2D array.

__getitem__(*args, **kwargs)¶

Overloaded function.

__getitem__(self: visp._visp.core.ArrayDouble2D, arg0: tuple[int, int]) -> float
__getitem__(self: visp._visp.core.ArrayDouble2D, arg0: int) -> numpy.ndarray[numpy.float64]
__getitem__(self: visp._visp.core.ArrayDouble2D, arg0: slice) -> numpy.ndarray[numpy.float64]
__getitem__(self: visp._visp.core.ArrayDouble2D, arg0: tuple) -> numpy.ndarray[numpy.float64]

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: visp._visp.core.RotationVector) -> None

Constructor that constructs a 0-size rotation vector.

__init__(self: visp._visp.core.RotationVector, n: int) -> None

Constructor that constructs a vector of size n and initialize all values to zero.

__init__(self: visp._visp.core.RotationVector, v: visp._visp.core.RotationVector) -> None

Copy operator.

__mul__(*args, **kwargs)¶

Overloaded function.

__mul__(self: visp._visp.core.RotationVector, x: float) -> visp._visp.core.ColVector

Operator that allows to multiply each element of a rotation vector by a scalar.

Parameters:

x: The scalar.

Returns:

The rotation vector multiplied by the scalar as a column vector. The current rotation vector (*this) is unchanged.

__mul__(self: visp._visp.core.RotationVector, x: float) -> visp._visp.core.ColVector

Operator that allows to multiply each element of a rotation vector by a scalar.

Parameters:

x: The scalar.

Returns:

The rotation vector multiplied by the scalar as a column vector. The current rotation vector (*this) is unchanged.

__mul__(self: visp._visp.core.RotationVector, x: float) -> visp._visp.core.ColVector

Operator that allows to multiply each element of a rotation vector by a scalar.

Parameters:

x: The scalar.

Returns:

The rotation vector multiplied by the scalar as a column vector. The current rotation vector (*this) is unchanged.

__ne__(*args, **kwargs)¶

Overloaded function.

__ne__(self: visp._visp.core.ArrayDouble2D, A: visp._visp.core.ArrayDouble2D) -> bool

Not equal to comparison operator of a 2D array.

__ne__(self: visp._visp.core.ArrayDouble2D, A: visp._visp.core.ArrayDouble2D) -> bool

Not equal to comparison operator of a 2D array.

__ne__(self: visp._visp.core.ArrayDouble2D, A: visp._visp.core.ArrayDouble2D) -> bool

Not equal to comparison operator of a 2D array.

static conv2(*args, **kwargs)¶

Overloaded function.

conv2(M: visp._visp.core.ArrayDouble2D, kernel: visp._visp.core.ArrayDouble2D, mode: str) -> visp._visp.core.ArrayDouble2D

Perform a 2D convolution similar to Matlab conv2 function: \(M \star kernel\) .

Note

This is a very basic implementation that does not use FFT.

Parameters:

M: First matrix.
kernel: Second matrix.
mode: Convolution mode: “full” (default), “same”, “valid”.

conv2(M: visp._visp.core.ArrayDouble2D, kernel: visp._visp.core.ArrayDouble2D, res: visp._visp.core.ArrayDouble2D, mode: str) -> None

Perform a 2D convolution similar to Matlab conv2 function: \(M \star kernel\) .

Note

This is a very basic implementation that does not use FFT.

Parameters:

M: First array.
kernel: Second array.
res: Result.
mode: Convolution mode: “full” (default), “same”, “valid”.

getCols(self) → int¶: Return the number of columns of the 2D array.

Note

See getRows() , size()

getMaxValue(self) → float¶: Return the array max value.

getMinValue(self) → float¶: Return the array min value.

getRows(self) → int¶: Return the number of rows of the 2D array.

Note

See getCols() , size()

hadamard(self, m: visp._visp.core.ArrayDouble2D) → visp._visp.core.ArrayDouble2D¶

Parameters:

m: visp._visp.core.ArrayDouble2D¶: Second matrix;

Returns:

m1.hadamard(m2) The Hadamard product : \(m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j}\)

insert(*args, **kwargs)¶

Overloaded function.

insert(self: visp._visp.core.ArrayDouble2D, A: visp._visp.core.ArrayDouble2D, r: int, c: int) -> None

Insert array A at the given position in the current array.

Warning

Throw vpException::dimensionError if the dimensions of the matrices do not allow the operation.

Parameters:

A: The array to insert.
r: The index of the row to begin to insert data.
c: The index of the column to begin to insert data.

insert(self: visp._visp.core.ArrayDouble2D, A: visp._visp.core.ArrayDouble2D, B: visp._visp.core.ArrayDouble2D, r: int, c: int) -> visp._visp.core.ArrayDouble2D

Insert array B in array A at the given position.

Warning

Throw exception if the sizes of the arrays do not allow the insertion.

Parameters:

A: Main array.
B: Array to insert.
r: Index of the row where to add the array.
c: Index of the column where to add the array.

Returns:

Array with B insert in A.

static insertStatic(A: visp._visp.core.ArrayDouble2D, B: visp._visp.core.ArrayDouble2D, C: visp._visp.core.ArrayDouble2D, r: int, c: int) → None¶

Insert array B in array A at the given position.

Warning

Throw exception if the sizes of the arrays do not allow the insertion.

Parameters:

A: visp._visp.core.ArrayDouble2D¶: Main array.
B: visp._visp.core.ArrayDouble2D¶: Array to insert.
C: visp._visp.core.ArrayDouble2D¶: Result array.
r: int¶: Index of the row where to insert array B.
c: int¶: Index of the column where to insert array B.

numpy(self) → numpy.ndarray[numpy.float64]¶: Numpy view of the underlying array data. This numpy view can be used to directly modify the array.

reshape(self, nrows: int, ncols: int) → None¶

resize(self, nrows: int, ncols: int, flagNullify: bool = true, recopy_: bool = true) → None¶

Set the size of the array and initialize all the values to zero.

Parameters:

nrows: int¶: number of rows.
ncols: int¶: number of column.
flagNullify: bool = true¶: if true, then the array is re-initialized to 0 after resize. If false, the initial values from the common part of the array (common part between old and new version of the array) are kept. Default value is true.
recopy_: bool = true¶: if true, will perform an explicit recopy of the old data.

static save(*args, **kwargs)¶

Overloaded function.

save(filename: str, A: visp._visp.core.ArrayDouble2D, binary: bool = false, header: str = ) -> bool

Save a matrix to a file.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

Note

See load()

Parameters:

filename: Absolute file name.
A: Array to be saved.
binary: If true the matrix is saved in a binary file, else a text file.
header: Optional line that will be saved at the beginning of the file.

Returns:

Returns true if success.

save(filename: str, A: visp._visp.core.ArrayDouble2D, binary: bool = false, header: str = ) -> bool

Save a matrix to a file.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

Note

See load()

Parameters:

filename: Absolute file name.
A: Array to be saved.
binary: If true the matrix is saved in a binary file, else a text file.
header: Optional line that will be saved at the beginning of the file.

Returns:

Returns true if success.

save(filename: str, A: visp._visp.core.ArrayDouble2D, binary: bool = false, header: str = ) -> bool

Save a matrix to a file.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

Note

See load()

Parameters:

filename: Absolute file name.
A: Array to be saved.
binary: If true the matrix is saved in a binary file, else a text file.
header: Optional line that will be saved at the beginning of the file.

Returns:

Returns true if success.

static saveYAML(filename: str, A: visp._visp.core.ArrayDouble2D, header: str =) → bool¶

Save an array in a YAML-formatted file.

Here is an example of outputs.

vpArray2D<double> M(3,4);
vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n    - a YAML-formatted \
header\n    - with inner indentation");

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
data:
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]

Content of matrixIndent.yml:

example:
    - a YAML-formatted header
    - with inner indentation
rows: 3
cols: 4
data:
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]

Note

See loadYAML()

Parameters:

filename: absolute file name.
A: array to be saved in the file.
header: optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.

Returns:

Returns true if success.

size(self) → int¶: Return the number of elements of the 2D array.

sumSquare(self) → float¶

Return the sum square of all the elements \(r_{i}\) of the rotation vector r(m).

Returns:: The value

\[\sum{i=0}^{m} r_i^{2}\]

t(*args, **kwargs)¶

Overloaded function.

t(self: visp._visp.core.RotationVector) -> visp._visp.core.RowVector

Return the transpose of the rotation vector.

t(self: visp._visp.core.ArrayDouble2D) -> visp._visp.core.ArrayDouble2D

Compute the transpose of the array.

Returns:: vpArray2D<Type> C = A^T

toStdVector(self) → list[float]¶

Returns:: The corresponding std::vector<double>.

__hash__ = None¶