Visual Servoing Platform  version 3.3.0
vpThetaUVector Class Reference

#include <vpThetaUVector.h>

+ Inheritance diagram for vpThetaUVector:

Public Member Functions

 vpThetaUVector ()
 
 vpThetaUVector (const vpThetaUVector &tu)
 
 vpThetaUVector (const vpHomogeneousMatrix &M)
 
 vpThetaUVector (const vpPoseVector &p)
 
 vpThetaUVector (const vpRotationMatrix &R)
 
 vpThetaUVector (const vpRzyxVector &rzyx)
 
 vpThetaUVector (const vpRzyzVector &rzyz)
 
 vpThetaUVector (const vpRxyzVector &rxyz)
 
 vpThetaUVector (const vpQuaternionVector &q)
 
 vpThetaUVector (const vpColVector &tu)
 
 vpThetaUVector (const std::vector< double > &tu)
 
 vpThetaUVector (double tux, double tuy, double tuz)
 
virtual ~vpThetaUVector ()
 
vpThetaUVector buildFrom (const vpHomogeneousMatrix &M)
 
vpThetaUVector buildFrom (const vpPoseVector &p)
 
vpThetaUVector buildFrom (const vpRotationMatrix &R)
 
vpThetaUVector buildFrom (const vpRzyxVector &rzyx)
 
vpThetaUVector buildFrom (const vpRzyzVector &zyz)
 
vpThetaUVector buildFrom (const vpRxyzVector &xyz)
 
vpThetaUVector buildFrom (const vpQuaternionVector &q)
 
vpThetaUVector buildFrom (const vpColVector &tu)
 
vpThetaUVector buildFrom (const std::vector< double > &tu)
 
void buildFrom (double tux, double tuy, double tuz)
 
void extract (double &theta, vpColVector &u) const
 
double getTheta () const
 
vpColVector getU () const
 
vpThetaUVectoroperator= (const vpColVector &tu)
 
vpThetaUVectoroperator= (double x)
 
vpThetaUVectoroperator= (const std::initializer_list< double > &list)
 
bool operator== (const vpArray2D< float > &A) const
 
Inherited functionalities from vpArray2D
unsigned int getCols () const
 
double getMaxValue () const
 
double getMinValue () const
 
unsigned int getRows () const
 
unsigned int size () const
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
 
void reshape (unsigned int nrows, unsigned int ncols)
 
bool operator== (const vpArray2D< double > &A) const
 
bool operator!= (const vpArray2D< double > &A) const
 
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, 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, 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)
 

Inherited functionalities from vpRotationVector

double & operator[] (unsigned int i)
 
const double & operator[] (unsigned int i) const
 
vpColVector operator* (double x) const
 
vpRotationVectoroperator<< (double val)
 
vpRotationVectoroperator, (double val)
 
double sumSquare () const
 
vpRowVector t () const
 
std::vector< double > toStdVector ()
 
unsigned int m_index
 

Detailed Description

Implementation of a rotation vector as $\theta {\bf u}$ axis-angle minimal representation.

Class that consider the case of the $\theta {\bf u}$ parameterization for the rotation.

The vpThetaUVector class is derived from vpRotationVector.

The $\theta {\bf u}$ representation is one of the minimal representation of a rotation matrix, where ${\bf u} = (u_{x} \; u_{y} \; u_{z})^{\top}$ is a unit vector representing the rotation axis and $\theta$ is the rotation angle.

From the $\theta {\bf u}$ representation it is possible to build the rotation matrix ${\bf R}$ using the Rodrigues formula:

\[ {\bf R} = {\bf I}_{3} + (1 - \cos{ \theta}) \; {\bf u u}^{\top} + \sin{ \theta} \; [{\bf u}]_{\times} \]

with ${\bf I}_{3}$ the identity matrix of dimension $3\times3$ and $[{\bf u}]_{\times}$ the skew matrix:

\[ [{\bf u}]_{\times} = \left( \begin{array}{ccc} 0 & -u_{z} & u_{y} \\ u_{z} & 0 & -u_{x} \\ -u_{y} & u_{x} & 0 \end{array} \right) \]

From the implementation point of view, it is nothing more than an array of three floats with values in [rad].

You can set values [rad] accessing each element:

tu[0] = M_PI_4;
tu[1] = M_PI_2;
tu[2] = M_PI;

You can also initialize the vector using operator<<(double):

tu << M_PI_4, M_PI_2, M_PI;

Or you can also initialize the vector from a list of doubles if ViSP is build with c++11 enabled:

#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
tu = {M_PI_4, M_PI_2, M_PI};
#endif

To get the values [rad] use:

double tux = tu[0];
double tuy = tu[1];
double tuz = tu[2];

The code below shows first how to initialize a $\theta {\bf u}$ vector, than how to contruct a rotation matrix from a vpThetaUVector and finaly how to extract the theta U angles from the build rotation matrix.

#include <iostream>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpThetaUVector.h>
int main()
{
// Initialise the theta U rotation vector
tu[0] = vpMath::rad( 45.f);
tu[1] = vpMath::rad(-30.f);
tu[2] = vpMath::rad( 90.f);
// Construct a rotation matrix from the theta U angles
// Extract the theta U angles from a rotation matrix
tu.buildFrom(R);
// Print the extracted theta U angles. Values are the same than the
// one used for initialization
std::cout << tu;
// Since the rotation vector is 3 values column vector, the
// transpose operation produce a row vector.
vpRowVector tu_t = tu.t();
// Print the transpose row vector
std::cout << tu_t << std::endl;
}
Examples
calibrate-hand-eye.cpp, exponentialMap.cpp, servoFrankaPBVS.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, testAprilTag.cpp, testDisplacement.cpp, testEigenConversion.cpp, testFeature.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, tutorial-hand-eye-calibration.cpp, and tutorial-homography-from-points.cpp.

Definition at line 171 of file vpThetaUVector.h.

Constructor & Destructor Documentation

◆ vpThetaUVector() [1/12]

vpThetaUVector::vpThetaUVector ( )

Default constructor that initialize all the 3 angles to zero.

Definition at line 52 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [2/12]

vpThetaUVector::vpThetaUVector ( const vpThetaUVector tu)

Copy constructor.

Definition at line 54 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [3/12]

vpThetaUVector::vpThetaUVector ( const vpHomogeneousMatrix M)
explicit

Initialize a $\theta {\bf u}$ vector from an homogeneous matrix.

Definition at line 63 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [4/12]

vpThetaUVector::vpThetaUVector ( const vpPoseVector p)
explicit

Initialize a $\theta {\bf u}$ vector from a pose vector.

Definition at line 67 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [5/12]

vpThetaUVector::vpThetaUVector ( const vpRotationMatrix R)
explicit

Initialize a $\theta {\bf u}$ vector from a rotation matrix.

Definition at line 71 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [6/12]

vpThetaUVector::vpThetaUVector ( const vpRzyxVector rzyx)
explicit

Initialize a $\theta {\bf u}$ vector from an Euler z-y-x representation vector.

Definition at line 76 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [7/12]

vpThetaUVector::vpThetaUVector ( const vpRzyzVector rzyz)
explicit

Initialize a $\theta {\bf u}$ vector from an Euler z-y-z representation vector.

Definition at line 80 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [8/12]

vpThetaUVector::vpThetaUVector ( const vpRxyzVector rxyz)
explicit

Initialize a $\theta {\bf u}$ vector from an Euler x-y-z representation vector.

Definition at line 84 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [9/12]

vpThetaUVector::vpThetaUVector ( const vpQuaternionVector q)
explicit

Initialize a $\theta {\bf u}$ vector from a quaternion representation vector.

Definition at line 88 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [10/12]

vpThetaUVector::vpThetaUVector ( const vpColVector tu)
explicit

Copy constructor from a 3-dimension vector.

Definition at line 56 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [11/12]

vpThetaUVector::vpThetaUVector ( const std::vector< double > &  tu)
explicit

Build a $\theta {\bf u}$ vector from a vector of 3 angles in radian.

Definition at line 114 of file vpThetaUVector.cpp.

◆ vpThetaUVector() [12/12]

vpThetaUVector::vpThetaUVector ( double  tux,
double  tuy,
double  tuz 
)

Build a $\theta {\bf u}$ vector from 3 angles in radians.

#include <visp3/core/vpThetaUVector.cpp>
int main()
{
vpThetaUVector tu(0, M_PI_2, M_PI);
std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654

Definition at line 106 of file vpThetaUVector.cpp.

◆ ~vpThetaUVector()

virtual vpThetaUVector::~vpThetaUVector ( )
inlinevirtual

Destructor.

Definition at line 198 of file vpThetaUVector.h.

Member Function Documentation

◆ buildFrom() [1/10]

vpThetaUVector vpThetaUVector::buildFrom ( const std::vector< double > &  tu)

Build a $\theta {\bf u}$ vector from a 3-dim vectors.

Definition at line 248 of file vpThetaUVector.cpp.

◆ buildFrom() [2/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpColVector tu)

Build a $\theta {\bf u}$ vector from a 3-dim vector.

Definition at line 263 of file vpThetaUVector.cpp.

◆ buildFrom() [3/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpHomogeneousMatrix M)

Converts an homogeneous matrix into a $\theta {\bf u}$ vector.

Examples
exponentialMap.cpp, and tutorial-homography-from-points.cpp.

Definition at line 122 of file vpThetaUVector.cpp.

Referenced by vpSimulatorAfma6::setPosition().

◆ buildFrom() [4/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpPoseVector p)

Converts a pose vector into a $\theta {\bf u}$ vector copying the $\theta {\bf u}$ values contained in the pose vector.

Definition at line 135 of file vpThetaUVector.cpp.

◆ buildFrom() [5/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpQuaternionVector q)

Build a $\theta {\bf u}$ vector from a quaternion representation vector.

Definition at line 237 of file vpThetaUVector.cpp.

◆ buildFrom() [6/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRotationMatrix R)

Converts a rotation matrix into a $\theta {\bf u}$ vector.

Definition at line 146 of file vpThetaUVector.cpp.

◆ buildFrom() [7/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRxyzVector rxyz)

Build a $\theta {\bf u}$ vector from an Euler x-y-z representation vector.

Definition at line 226 of file vpThetaUVector.cpp.

◆ buildFrom() [8/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRzyxVector rzyx)

Build a $\theta {\bf u}$ vector from an Euler z-y-x representation vector.

Definition at line 206 of file vpThetaUVector.cpp.

◆ buildFrom() [9/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRzyzVector rzyz)

Build a $\theta {\bf u}$ vector from an Euler z-y-z representation vector.

Definition at line 216 of file vpThetaUVector.cpp.

◆ buildFrom() [10/10]

void vpThetaUVector::buildFrom ( double  tux,
double  tuy,
double  tuz 
)

Build a $\theta {\bf u}$ vector from 3 angles in radian.

Definition at line 446 of file vpThetaUVector.cpp.

◆ extract()

void vpThetaUVector::extract ( double &  theta,
vpColVector u 
) const

Extract the rotation angle $ \theta $ and the unit vector $\bf u $ from the $ \theta {\bf u} $ representation.

Parameters
theta: Rotation angle $ \theta $ in rad.
u: 3-dim unit vector ${\bf u} = (u_{x},u_{y},u_{z})^{\top} $ representing the rotation axis.

The following example shows how to use this function:

#include <visp3/core/vpThetaUVector.h>
int main()
{
double theta;
M.getRotationMatrix().getThetaUVector().extract(theta, u);
std::cout << "theta: " << theta << std::endl;
std::cout << "u : " << u.t() << std::endl;
}
See also
getTheta(), getU()

Definition at line 367 of file vpThetaUVector.cpp.

◆ getCols()

◆ getMaxValue()

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

Return the array max value.

Examples
servoMomentImage.cpp.

Definition at line 912 of file vpArray2D.h.

◆ getMinValue()

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

Return the array min value.

Examples
servoMomentImage.cpp.

Definition at line 895 of file vpArray2D.h.

◆ getRows()

◆ getTheta()

double vpThetaUVector::getTheta ( ) const

Get the rotation angle $ \theta $ from the $ \theta {\bf u} $ representation.

Returns
Rotation angle $ \theta $ in rad.

The following example shows how to use this function:

#include <visp3/core/vpThetaUVector.h>
int main()
{
std::cout << "theta: " << M.getRotationMatrix().getThetaUVector().getTheta() << std::endl;
std::cout << "u : " << M.getRotationMatrix().getThetaUVector().getU().t() << std::endl;
}
See also
getTheta(), extract()

Definition at line 403 of file vpThetaUVector.cpp.

◆ getU()

vpColVector vpThetaUVector::getU ( ) const

Get the unit vector $\bf u $ from the $ \theta {\bf u} $ representation.

Returns
3-dim unit vector ${\bf u} = (u_{x},u_{y},u_{z})^{\top} $ representing the rotation axis.

The following example shows how to use this function:

#include <visp3/core/vpThetaUVector.h>
int main()
{
vpHomogeneousMatrix M(0, 0, 1., vpMath::rad(10), vpMath::rad(20), pMath::rad(30));
std::cout << "theta: " << M.getRotationMatrix().getThetaUVector().getTheta() << std::endl;
std::cout << "u : " << M.getRotationMatrix().getThetaUVector().getU().t() << std::endl;
}
See also
getTheta(), extract()

Definition at line 428 of file vpThetaUVector.cpp.

◆ 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 932 of file vpArray2D.h.

◆ load()

static bool vpArray2D< double >::load ( const std::string &  filename,
vpArray2D< double > &  A,
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 540 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
servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 652 of file vpArray2D.h.

◆ operator!=()

bool vpArray2D< double >::operator!= ( const vpArray2D< double > &  A) const
inherited

Not equal to comparison operator of a 2D array.

Definition at line 993 of file vpArray2D.h.

◆ operator*()

vpColVector vpRotationVector::operator* ( double  x) const
inherited

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, ( double  val)
inherited

Set vector second and third element values.

Parameters
val: Value of the vector element [rad].
Returns
An updated vector.

The following example shows how to initialize a $\theta_u$ vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
int main()
{
tu << 0, M_PI_2, M_PI;
std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654
See also
operator<<()

Definition at line 161 of file vpRotationVector.cpp.

◆ operator<<()

vpRotationVector & vpRotationVector::operator<< ( double  val)
inherited

Set vector first element value.

Parameters
val: Value of the vector first element [rad].
Returns
An updated vector.

The following example shows how to initialize a $\theta_u$ vector from a list of 3 values [rad].

#include <visp3/core/vpThetaUVector.h>
int main()
{
tu << 0, M_PI_2, M_PI;
std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654
See also
operator,()

Definition at line 131 of file vpRotationVector.cpp.

◆ operator=() [1/3]

vpThetaUVector & vpThetaUVector::operator= ( const std::initializer_list< double > &  list)

Set vector from a list of 3 double angle values in radians.

#include <visp3/core/vpThetaUVector.cpp>
int main()
{
vpThetaUVector tu = {M_PI, 0, M_PI_2};
std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 3.141592654 0 1.570796327
See also
operator<<()

Definition at line 471 of file vpThetaUVector.cpp.

◆ operator=() [2/3]

vpThetaUVector & vpThetaUVector::operator= ( const vpColVector tu)

Copy operator that initializes a $\theta {\bf u}$ vector from a 3-dimension column vector tu.

Parameters
tu: 3-dimension vector containing the values of the $\theta {\bf u}$ vector.
#include <visp3/core/vpThetaUVector.h>
int main()
{
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
tu = v;
// tu is now equal to v : 0.1, 0.2, 0.3
}

Definition at line 327 of file vpThetaUVector.cpp.

◆ operator=() [3/3]

vpThetaUVector & vpThetaUVector::operator= ( double  v)

Initialize each element of the $\theta {\bf u}$ vector to the same angle value v.

Parameters
v: Angle value to set for each element of the $\theta {\bf u}$ vector.
#include <visp3/core/vpMath.h>
#include <visp3/core/vpThetaUVector.h>
int main()
{
// Initialise the theta U rotation vector
tu = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}

Definition at line 296 of file vpThetaUVector.cpp.

◆ operator==() [1/2]

bool vpArray2D< double >::operator== ( const vpArray2D< double > &  A) const
inherited

Equal to comparison operator of a 2D array.

Definition at line 948 of file vpArray2D.h.

◆ operator==() [2/2]

bool vpArray2D< float >::operator== ( const vpArray2D< float > &  A) const
inlineinherited

Definition at line 978 of file vpArray2D.h.

◆ operator[]() [1/2]

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

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
inlineinherited

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.

◆ reshape()

void vpArray2D< double >::reshape ( unsigned int  nrows,
unsigned int  ncols 
)
inlineinherited
Examples
testMatrixInitialization.cpp.

Definition at line 379 of file vpArray2D.h.

◆ resize()

void vpArray2D< double >::resize ( unsigned int  nrows,
unsigned int  ncols,
bool  flagNullify = true,
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 304 of file vpArray2D.h.

◆ save()

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< double > &  A,
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 737 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 830 of file vpArray2D.h.

◆ size()

◆ sumSquare()

double vpRotationVector::sumSquare ( ) const
inherited

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 177 of file vpRotationVector.cpp.

◆ t()

vpRowVector vpRotationVector::t ( ) const
inherited

Return the transpose of the rotation vector.

Examples
testEigenConversion.cpp, testMatrixInitialization.cpp, testViper650.cpp, and testViper850.cpp.

Definition at line 55 of file vpRotationVector.cpp.

◆ toStdVector()

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

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 136 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

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

Definition at line 144 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 140 of file vpArray2D.h.

◆ m_index

unsigned int vpRotationVector::m_index
protectedinherited

Definition at line 160 of file vpRotationVector.h.

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 134 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 138 of file vpArray2D.h.

vpThetaUVector::buildFrom
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
Definition: vpThetaUVector.cpp:122
vpColVector::t
vpRowVector t() const
Definition: vpColVector.cpp:781
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:107
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:830
vpColVector::extract
vpColVector extract(unsigned int r, unsigned int colsize) const
Definition: vpColVector.h:219
vpThetaUVector
Implementation of a rotation vector as axis-angle minimal representation.
Definition: vpThetaUVector.h:171
vpArray2D< double >
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:129
vpRotationVector::t
vpRowVector t() const
Definition: vpRotationVector.cpp:55
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition: vpRotationMatrix.h:121
vpArray2D< double >::data
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:144
vpRowVector::t
vpColVector t() const
Definition: vpRowVector.cpp:506
vpRowVector
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:114
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:148