Visual Servoing Platform version 3.5.0
vpTranslationVector.h
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3 * ViSP, open source Visual Servoing Platform software.
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Translation vector.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
40#ifndef vpTRANSLATIONVECTOR_H
41#define vpTRANSLATIONVECTOR_H
42
48#include <visp3/core/vpArray2D.h>
49#include <visp3/core/vpHomogeneousMatrix.h>
50#include <visp3/core/vpMatrix.h>
51#include <visp3/core/vpPoseVector.h>
52
119class VISP_EXPORT vpTranslationVector : public vpArray2D<double>
120{
121public:
126 vpTranslationVector() : vpArray2D<double>(3, 1), m_index(0) {};
127 vpTranslationVector(double tx, double ty, double tz);
129 explicit vpTranslationVector(const vpHomogeneousMatrix &M);
130 explicit vpTranslationVector(const vpPoseVector &p);
131 explicit vpTranslationVector(const vpColVector &v);
132
133 vpTranslationVector buildFrom(double tx, double ty, double tz);
134 vpTranslationVector buildFrom(const vpHomogeneousMatrix &M);
135 vpTranslationVector buildFrom(const vpPoseVector &p);
136 vpTranslationVector buildFrom(const vpColVector &v);
137
138 vp_deprecated double euclideanNorm() const;
139 double frobeniusNorm() const;
140
141 // operators
142
143 // translation vectors additions c = a + b (a, b unchanged)
144 vpTranslationVector operator+(const vpTranslationVector &tv) const;
145 vpTranslationVector operator+(const vpColVector &v) const;
146 // translation vectors subtraction c = a - b (a, b unchanged)
147 vpTranslationVector operator-(const vpTranslationVector &tv) const;
148 // negate t = -a (t is unchanged)
149 vpTranslationVector operator-() const;
150 vpMatrix operator*(const vpRowVector &v) const;
151 // b = x * a (x=scalar)
152 vpTranslationVector operator*(double x) const;
153 vpTranslationVector &operator*=(double x);
154 vpTranslationVector operator/(double x) const;
155 vpTranslationVector &operator/=(double x);
156 // Copy operator. Allow operation such as A = v
160#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
161 vpTranslationVector &operator=(const std::initializer_list<double> &list);
162#endif
163
165 inline double &operator[](unsigned int n) { return *(data + n); }
167 inline const double &operator[](unsigned int n) const { return *(data + n); }
168
169 vpTranslationVector &operator<<(double val);
170 vpTranslationVector &operator,(double val);
171
172
178 void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
179 {
180 (void)nrows;
181 (void)ncols;
182 (void)flagNullify;
183 throw(vpException(vpException::fatalError, "Cannot resize a translation vector"));
184 };
185
186 void set(double tx, double ty, double tz);
187
188 // Skew Symmetric matrix
189 vpMatrix skew() const;
190
191 double sumSquare() const;
192
193 vpRowVector t() const;
194
195 static vpTranslationVector cross(const vpTranslationVector &a, const vpTranslationVector &b);
196 static vpTranslationVector mean(const std::vector<vpHomogeneousMatrix> &vec_M);
197 static vpTranslationVector mean(const std::vector<vpTranslationVector> &vec_t);
198 static vpMatrix skew(const vpTranslationVector &tv);
199 static void skew(const vpTranslationVector &tv, vpMatrix &M);
200
201protected:
202 unsigned int m_index; // index used for operator<< and operator, to fill a vector
203};
204
205#endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:132
vpArray2D< Type > & operator=(Type x)
Set all the elements of the array to x.
Definition: vpArray2D.h:413
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:493
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ fatalError
Fatal error.
Definition: vpException.h:96
Implementation of an homogeneous matrix and operations on such kind of matrices.
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 row vector and the associated operations.
Definition: vpRowVector.h:116
Class that consider the case of a translation vector.
const double & operator[](unsigned int n) const
Operator that allows to get the value of an element : x = t[i].
double & operator[](unsigned int n)
Operator that allows to set a value of an element : t[i] = x.
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)
vpColVector operator*(const double &x, const vpColVector &v)