Visual Servoing Platform  version 3.2.0
vpRotationVector Class Reference

#include <vpRotationVector.h>

+ Inheritance diagram for vpRotationVector:

Public Member Functions

 vpRotationVector ()
 
 vpRotationVector (const unsigned int n)
 
 vpRotationVector (const vpRotationVector &v)
 
virtual ~vpRotationVector ()
 
Inherited functionalities from vpRotationVector
double & operator[] (unsigned int i)
 
const double & operator[] (unsigned int i) const
 
vpRotationVectoroperator= (const vpRotationVector &v)
 
vpColVector operator* (double x) const
 
double sumSquare () const
 
vpRowVector t () const
 
std::vector< double > toStdVector ()
 
Inherited functionalities from vpArray2D
unsigned int getCols () const
 
double getMaxValue () const
 
double getMinValue () const
 
unsigned int getRows () const
 
unsigned int size () const
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
 
vpArray2D< double > hadamard (const vpArray2D< double > &m) const
 

Static Public Member Functions

Inherited I/O from vpArray2D with Static Public Member Functions
static bool load (const std::string &filename, vpArray2D< double > &A, const bool binary=false, char *header=NULL)
 
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=NULL)
 
static bool save (const std::string &filename, const vpArray2D< double > &A, const bool binary=false, const char *header="")
 
static bool saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")
 

Public Attributes

double * data
 

Protected Attributes

unsigned int rowNum
 
unsigned int colNum
 
double ** rowPtrs
 
unsigned int dsize
 

Related Functions

(Note that these are not member functions.)

vpColVector operator* (const double &x, const vpRotationVector &v)
 
enum  vpGEMMmethod
 
void vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)
 

Detailed Description

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
}

Definition at line 99 of file vpRotationVector.h.

Constructor & Destructor Documentation

◆ vpRotationVector() [1/3]

vpRotationVector::vpRotationVector ( )
inline

Constructor that constructs a 0-size rotation vector.

Definition at line 103 of file vpRotationVector.h.

◆ vpRotationVector() [2/3]

vpRotationVector::vpRotationVector ( const unsigned int  n)
inlineexplicit

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

Definition at line 107 of file vpRotationVector.h.

◆ vpRotationVector() [3/3]

vpRotationVector::vpRotationVector ( const vpRotationVector v)
inline

Copy operator.

Definition at line 112 of file vpRotationVector.h.

◆ ~vpRotationVector()

virtual vpRotationVector::~vpRotationVector ( )
inlinevirtual

Destructor.

Definition at line 117 of file vpRotationVector.h.

Member Function Documentation

◆ getCols()

◆ getMaxValue()

double vpArray2D< double >::getMaxValue ( ) const
inherited

Return the array max value.

Examples
servoMomentImage.cpp, and testMatrix.cpp.

Definition at line 693 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue ( ) const
inherited

Return the array min value.

Examples
servoMomentImage.cpp, and testMatrix.cpp.

Definition at line 676 of file vpArray2D.h.

◆ getRows()

◆ hadamard()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< double > &  m) const
inherited

Compute the Hadamard product (element wise matrix multiplication).

Parameters
m: Second matrix;
Returns
m1.hadamard(m2) The Hadamard product : $ m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j} $

Definition at line 713 of file vpArray2D.h.

◆ load()

static bool vpArray2D< double >::load ( const std::string &  filename,
vpArray2D< double > &  A,
const bool  binary = false,
char *  header = NULL 
)
inlinestaticinherited

Load a matrix from a file.

Parameters
filename: Absolute file name.
A: Array to be loaded
binary: If true the matrix is loaded from a binary file, else from a text file.
header: Header of the file is loaded in this parameter.
Returns
Returns true if success.
See also
save()

Definition at line 321 of file vpArray2D.h.

◆ loadYAML()

static bool vpArray2D< double >::loadYAML ( const std::string &  filename,
vpArray2D< double > &  A,
char *  header = NULL 
)
inlinestaticinherited

Load an array from a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be loaded from the file.
header: header of the file is loaded in this parameter.
Returns
Returns true on success.
See also
saveYAML()
Examples
servoFrankaPBVS.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 433 of file vpArray2D.h.

◆ operator*()

vpColVector vpRotationVector::operator* ( double  x) const

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.

Definition at line 88 of file vpRotationVector.cpp.

◆ operator=()

vpRotationVector& vpRotationVector::operator= ( const vpRotationVector v)
inline

Affectation of two vectors.

Definition at line 136 of file vpRotationVector.h.

◆ operator[]() [1/2]

double& vpRotationVector::operator[] ( unsigned int  i)
inline

Operator that allows to set the value of an element of the rotation vector: r[i] = value

Definition at line 126 of file vpRotationVector.h.

◆ operator[]() [2/2]

const double& vpRotationVector::operator[] ( unsigned int  i) const
inline

Operator that allows to get the value of an element of the rotation vector: value = r[i]

Definition at line 131 of file vpRotationVector.h.

◆ resize()

void vpArray2D< double >::resize ( const unsigned int  nrows,
const unsigned int  ncols,
const bool  flagNullify = true,
const bool  recopy_ = true 
)
inlineinherited

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

Parameters
nrows: number of rows.
ncols: number of column.
flagNullify: 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_: if true, will perform an explicit recopy of the old data if needed and if flagNullify is set to false.
Examples
testArray2D.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 170 of file vpArray2D.h.

◆ save()

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< double > &  A,
const bool  binary = false,
const char *  header = "" 
)
inlinestaticinherited

Save a matrix to a file.

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.

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

See also
load()

Definition at line 518 of file vpArray2D.h.

◆ saveYAML()

static bool vpArray2D< double >::saveYAML ( const std::string &  filename,
const vpArray2D< double > &  A,
const char *  header = "" 
)
inlinestaticinherited

Save an array in a YAML-formatted file.

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.

Here is an example of outputs.

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
- [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
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
See also
loadYAML()
Examples
tutorial-franka-acquire-calib-data.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 611 of file vpArray2D.h.

◆ size()

◆ sumSquare()

double vpRotationVector::sumSquare ( ) const

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

Returns
The value

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

.
Examples
servoFrankaPBVS.cpp.

Definition at line 114 of file vpRotationVector.cpp.

◆ t()

vpRowVector vpRotationVector::t ( ) const

Return the transpose of the rotation vector.

Examples
testViper650.cpp, and testViper850.cpp.

Definition at line 55 of file vpRotationVector.cpp.

◆ toStdVector()

std::vector< double > vpRotationVector::toStdVector ( )

Converts the vpRotationVector to a std::vector.

Returns
The corresponding std::vector<double>.

Definition at line 69 of file vpRotationVector.cpp.

Friends And Related Function Documentation

◆ operator*()

vpColVector operator* ( const double &  x,
const vpRotationVector v 
)
related

Allows to multiply a scalar by rotaion vector.

Definition at line 101 of file vpRotationVector.cpp.

◆ vpGEMM()

void vpGEMM ( const vpArray2D< double > &  A,
const vpArray2D< double > &  B,
const double &  alpha,
const vpArray2D< double > &  C,
const double &  beta,
vpArray2D< double > &  D,
const unsigned int &  ops = 0 
)
related

This function performs generalized matrix multiplication: D = alpha*op(A)*op(B) + beta*op(C), where op(X) is X or X^T. Operation on A, B and C matrices is described by enumeration vpGEMMmethod().

For example, to compute D = alpha*A^T*B^T+beta*C we need to call :

vpGEMM(A, B, alpha, C, beta, D, VP_GEMM_A_T + VP_GEMM_B_T);

If C is not used, vpGEMM must be called using an empty array null. Thus to compute D = alpha*A^T*B, we have to call:

vpGEMM(A, B, alpha, null, 0, D, VP_GEMM_B_T);
Exceptions
vpException::incorrectMatrixSizeErrorif the sizes of the matrices do not allow the operations.
Parameters
A: An array that could be a vpMatrix.
B: An array that could be a vpMatrix.
alpha: A scalar.
C: An array that could be a vpMatrix.
beta: A scalar.
D: The resulting array that could be a vpMatrix.
ops: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 392 of file vpGEMM.h.

◆ vpGEMMmethod

enum vpGEMMmethod
related

Enumeration of the operations applied on matrices in vpGEMM() function.

Operations are :

  • VP_GEMM_A_T to use the transpose matrix of A instead of the matrix A
  • VP_GEMM_B_T to use the transpose matrix of B instead of the matrix B
  • VP_GEMM_C_T to use the transpose matrix of C instead of the matrix C

Definition at line 56 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 75 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

Examples
testDisplacement.cpp, testMatrix.cpp, testPoseVector.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 83 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 79 of file vpArray2D.h.

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 73 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 77 of file vpArray2D.h.

vpMath::rad
static double rad(double deg)
Definition: vpMath.h:101
vpArray2D< double >::vpGEMM
void vpGEMM(const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)
Definition: vpGEMM.h:392
vpArray2D::saveYAML
static bool saveYAML(const std::string &filename, const vpArray2D< Type > &A, const char *header="")
Definition: vpArray2D.h:611
vpArray2D< double >
vpArray2D< double >::data
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:83
vpRxyzVector
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:155