Visual Servoing Platform  version 3.3.0
vpQuaternionVector Class Reference

#include <vpQuaternionVector.h>

+ Inheritance diagram for vpQuaternionVector:

Public Member Functions

 vpQuaternionVector ()
 
 vpQuaternionVector (const vpQuaternionVector &q)
 
 vpQuaternionVector (const double qx, const double qy, const double qz, const double qw)
 
 vpQuaternionVector (const vpRotationMatrix &R)
 
 vpQuaternionVector (const vpThetaUVector &tu)
 
 vpQuaternionVector (const vpColVector &q)
 
 vpQuaternionVector (const std::vector< double > &q)
 
virtual ~vpQuaternionVector ()
 
vpQuaternionVector buildFrom (const double qx, const double qy, const double qz, const double qw)
 
vpQuaternionVector buildFrom (const vpRotationMatrix &R)
 
vpQuaternionVector buildFrom (const vpThetaUVector &tu)
 
vpQuaternionVector buildFrom (const vpColVector &q)
 
vpQuaternionVector buildFrom (const std::vector< double > &q)
 
void set (double x, double y, double z, double w)
 
double x () const
 
double y () const
 
double z () const
 
double w () const
 
vpQuaternionVector operator+ (const vpQuaternionVector &q) const
 
vpQuaternionVector operator- (const vpQuaternionVector &q) const
 
vpQuaternionVector operator- () const
 
vpQuaternionVector operator* (double l) const
 
vpQuaternionVector operator* (const vpQuaternionVector &rq) const
 
vpQuaternionVector operator/ (double l) const
 
vpQuaternionVectoroperator= (const vpColVector &q)
 
vpQuaternionVectoroperator= (const vpQuaternionVector &q)=default
 
vpQuaternionVectoroperator= (const std::initializer_list< double > &list)
 
vpQuaternionVector conjugate () const
 
vpQuaternionVector inverse () const
 
double magnitude () const
 
void normalize ()
 
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
 
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 quaternion angle minimal representation.

Defines a quaternion and its basic operations.

The vpQuaternionVector class is derived from vpRotationVector.

A quaternion is defined by four double values: ${\bf q} = (x, y, z, w)$.

This class allows to compute a quaternion from a rotation matrix using either vpQuaternionVector(const vpRotationMatrix &) constructor or buildFrom() method.

It also defines common operations on a quaternion such as:

  • multiplication (scalar and quaternion)
  • addition
  • subtraction.

You can set values accessing each element:

q[0] = x
q[1] = y;
q[2] = z;
q[3] = w;

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

tu << x, y, z, w;

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

tu = {x, y, z, w};

To get the values use:

double x = q[0];
double y = q[1];
double z = q[2];
double w = q[3];

or use getter:

double x = q.x();
double y = q.y();
double z = q.z();
double w = q.w();
Examples
testEigenConversion.cpp, testMatrixInitialization.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 110 of file vpQuaternionVector.h.

Constructor & Destructor Documentation

◆ vpQuaternionVector() [1/7]

vpQuaternionVector::vpQuaternionVector ( )

Default constructor that initialize all the 4 angles to zero.

Definition at line 53 of file vpQuaternionVector.cpp.

◆ vpQuaternionVector() [2/7]

vpQuaternionVector::vpQuaternionVector ( const vpQuaternionVector q)

Copy constructor.

Definition at line 56 of file vpQuaternionVector.cpp.

◆ vpQuaternionVector() [3/7]

vpQuaternionVector::vpQuaternionVector ( const double  qx,
const double  qy,
const double  qz,
const double  qw 
)

Constructor from doubles.

Definition at line 59 of file vpQuaternionVector.cpp.

◆ vpQuaternionVector() [4/7]

vpQuaternionVector::vpQuaternionVector ( const vpRotationMatrix R)
explicit

Constructs a quaternion from a rotation matrix.

Parameters
R: Matrix containing a rotation.

Definition at line 82 of file vpQuaternionVector.cpp.

◆ vpQuaternionVector() [5/7]

vpQuaternionVector::vpQuaternionVector ( const vpThetaUVector tu)
explicit

Constructor that initialize $R_{xyz}=(\varphi,\theta,\psi)$ Euler angles vector from a $\theta {\bf u}$ vector.

Parameters
tu: $\theta {\bf u}$ representation of a rotation used here as input to initialize the Euler angles.

Definition at line 90 of file vpQuaternionVector.cpp.

◆ vpQuaternionVector() [6/7]

vpQuaternionVector::vpQuaternionVector ( const vpColVector q)
explicit

Constructor from a 4-dimension vector of doubles.

Definition at line 66 of file vpQuaternionVector.cpp.

◆ vpQuaternionVector() [7/7]

vpQuaternionVector::vpQuaternionVector ( const std::vector< double > &  q)
explicit

Constructor from a 4-dimension vector of doubles.

Definition at line 72 of file vpQuaternionVector.cpp.

◆ ~vpQuaternionVector()

virtual vpQuaternionVector::~vpQuaternionVector ( )
inlinevirtual

Destructor.

Definition at line 125 of file vpQuaternionVector.h.

Member Function Documentation

◆ buildFrom() [1/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const double  qx,
const double  qy,
const double  qz,
const double  qw 
)

Manually change values of a quaternion.

Parameters
qx: x quaternion parameter.
qy: y quaternion parameter.
qz: z quaternion parameter.
qw: w quaternion parameter.
See also
set()

Definition at line 115 of file vpQuaternionVector.cpp.

◆ buildFrom() [2/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const std::vector< double > &  q)

Construct a quaternion vector from a 4-dim vector (x,y,z,w).

Definition at line 153 of file vpQuaternionVector.cpp.

◆ buildFrom() [3/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpColVector q)

Construct a quaternion vector from a 4-dim vector (x,y,z,w).

Definition at line 138 of file vpQuaternionVector.cpp.

◆ buildFrom() [4/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpRotationMatrix R)

Constructs a quaternion from a rotation matrix.

Parameters
R: Rotation matrix.

Definition at line 256 of file vpQuaternionVector.cpp.

◆ buildFrom() [5/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpThetaUVector tu)

Convert a $\theta {\bf u}$ vector into a quaternion.

Parameters
tu: $\theta {\bf u}$ representation of a rotation used here as input.
Returns
Quaternion vector.

Definition at line 127 of file vpQuaternionVector.cpp.

◆ conjugate()

vpQuaternionVector vpQuaternionVector::conjugate ( ) const

Quaternion conjugate.

Returns
The conjugate quaternion.

Definition at line 275 of file vpQuaternionVector.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()

◆ 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.

◆ inverse()

vpQuaternionVector vpQuaternionVector::inverse ( ) const

Quaternion inverse.

Returns
The inverse quaternion.

Definition at line 282 of file vpQuaternionVector.cpp.

◆ 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.

◆ magnitude()

double vpQuaternionVector::magnitude ( ) const

Quaternion magnitude or norm.

Returns
The magnitude or norm of the quaternion.

Definition at line 301 of file vpQuaternionVector.cpp.

◆ normalize()

void vpQuaternionVector::normalize ( )

Normalize the quaternion.

Definition at line 306 of file vpQuaternionVector.cpp.

◆ 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*() [1/2]

vpQuaternionVector vpQuaternionVector::operator* ( const vpQuaternionVector rq) const

Multiply two quaternions.

Definition at line 198 of file vpQuaternionVector.cpp.

◆ operator*() [2/2]

vpQuaternionVector vpQuaternionVector::operator* ( double  l) const

Multiplication by scalar. Returns a quaternion defined by (lx,ly,lz,lw).

Definition at line 192 of file vpQuaternionVector.cpp.

◆ operator+()

vpQuaternionVector vpQuaternionVector::operator+ ( const vpQuaternionVector q) const

Quaternion addition.

Adds two quaternions. Addition is component-wise.

Parameters
q: quaternion to add.

Definition at line 172 of file vpQuaternionVector.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-() [1/2]

vpQuaternionVector vpQuaternionVector::operator- ( void  ) const

Negate operator. Returns a quaternion defined by (-x,-y,-z-,-w).

Definition at line 189 of file vpQuaternionVector.cpp.

◆ operator-() [2/2]

vpQuaternionVector vpQuaternionVector::operator- ( const vpQuaternionVector q) const

Quaternion subtraction.

Substracts a quaternion from another. Subtraction is component-wise.

Parameters
q: quaternion to subtract.

Definition at line 183 of file vpQuaternionVector.cpp.

◆ operator/()

vpQuaternionVector vpQuaternionVector::operator/ ( double  l) const

Division by scalar. Returns a quaternion defined by (x/l,y/l,z/l,w/l).

Definition at line 207 of file vpQuaternionVector.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]

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

Set vector from a list of 4 double angle values.

#include <visp3/core/vpQuaternionVector.cpp>
int main()
{
vpQuaternionVector q = {0, 0, 0, 1};
std::cout << "q: " << q.t() << std::endl;
}

It produces the following printings:

q: 0 0 0 1
See also
operator<<()

Definition at line 341 of file vpQuaternionVector.cpp.

◆ operator=() [2/3]

vpQuaternionVector & vpQuaternionVector::operator= ( const vpColVector q)

Copy operator that initializes a quaternion vector from a 4-dimension column vector q.

Parameters
q: 4-dimension vector containing the values of the quaternion vector.
#include <visp3/core/vpQuaternionVector.h>
int main()
{
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
v[3] = 0.4;
q = v;
// q is now equal to v : 0.1, 0.2, 0.3, 0.4
}

Definition at line 239 of file vpQuaternionVector.cpp.

◆ operator=() [3/3]

vpQuaternionVector& vpQuaternionVector::operator= ( const vpQuaternionVector q)
default

◆ 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.

◆ set()

void vpQuaternionVector::set ( double  qx,
double  qy,
double  qz,
double  qw 
)

Manually change values of a quaternion.

Parameters
qx: x quaternion parameter.
qy: y quaternion parameter.
qz: z quaternion parameter.
qw: w quaternion parameter.

Definition at line 99 of file vpQuaternionVector.cpp.

◆ 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.

◆ w()

double vpQuaternionVector::w ( ) const

Returns w-component of the quaternion.

Definition at line 321 of file vpQuaternionVector.cpp.

◆ x()

double vpQuaternionVector::x ( ) const

Returns x-component of the quaternion.

Definition at line 315 of file vpQuaternionVector.cpp.

◆ y()

double vpQuaternionVector::y ( ) const

Returns y-component of the quaternion.

Definition at line 317 of file vpQuaternionVector.cpp.

◆ z()

double vpQuaternionVector::z ( ) const

Returns z-component of the quaternion.

Definition at line 319 of file vpQuaternionVector.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.

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
vpQuaternionVector::x
double x() const
Returns x-component of the quaternion.
Definition: vpQuaternionVector.cpp:315
vpQuaternionVector::w
double w() const
Returns w-component of the quaternion.
Definition: vpQuaternionVector.cpp:321
vpArray2D::saveYAML
static bool saveYAML(const std::string &filename, const vpArray2D< Type > &A, const char *header="")
Definition: vpArray2D.h:830
vpQuaternionVector::y
double y() const
Returns y-component of the quaternion.
Definition: vpQuaternionVector.cpp:317
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
vpQuaternionVector
Implementation of a rotation vector as quaternion angle minimal representation.
Definition: vpQuaternionVector.h:110
vpArray2D< double >::data
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:144
vpQuaternionVector::z
double z() const
Returns z-component of the quaternion.
Definition: vpQuaternionVector.cpp:319