Visual Servoing Platform version 3.5.0
vpRotationVector.h
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3 * ViSP, open source Visual Servoing Platform software.
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Generic rotation vector (cannot be used as is !).
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpRotationVECTOR_H
40#define vpRotationVECTOR_H
41
48#include <iostream>
49#include <math.h>
50#include <stdio.h>
51
52#include <visp3/core/vpArray2D.h>
53
54class vpRowVector;
55class vpColVector;
56
100class VISP_EXPORT vpRotationVector : public vpArray2D<double>
101{
102public:
104 vpRotationVector() : vpArray2D<double>(), m_index(0) {}
105
108 explicit vpRotationVector(unsigned int n) : vpArray2D<double>(n, 1), m_index(0) {}
109
113 vpRotationVector(const vpRotationVector &v) : vpArray2D<double>(v), m_index(0) {}
114
118 virtual ~vpRotationVector(){};
119
122
127 inline double &operator[](unsigned int i) { return *(data + i); }
132 inline const double &operator[](unsigned int i) const { return *(data + i); }
133
138 {
139 resize(v.size(), 1);
140 for (unsigned int i = 0; i < v.size(); i++) {
141 data[i] = v.data[i];
142 }
143 return *this;
144 }
145
146 vpColVector operator*(double x) const;
147
148 vpRotationVector &operator<<(double val);
149 vpRotationVector &operator,(double val);
150
151 double sumSquare() const;
152
153 // Transpose of the rotation vector.
154 vpRowVector t() const;
155
156 std::vector<double> toStdVector() const;
157
159
160protected:
161 unsigned int m_index; // index used for operator<< and operator, to fill a vector
162};
163
164#ifndef DOXYGEN_SHOULD_SKIP_THIS
165VISP_EXPORT
166#endif
167vpColVector operator*(const double &x, const vpRotationVector &v);
168
169#endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:132
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:304
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:493
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
VISP_EXPORT vpImagePoint operator*(const vpImagePoint &ip1, double scale)
Implementation of a generic rotation vector.
double & operator[](unsigned int i)
vpRotationVector(const vpRotationVector &v)
unsigned int m_index
vpRotationVector & operator=(const vpRotationVector &v)
vpRotationVector()
Constructor that constructs a 0-size rotation vector.
virtual ~vpRotationVector()
const double & operator[](unsigned int i) const
vpRotationVector(unsigned int n)
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:116
vpColVector operator*(const double &x, const vpColVector &v)