Visual Servoing Platform version 3.6.0
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vpRotationVector.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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*****************************************************************************/
35
36#include <algorithm>
37#include <math.h>
38
39#include <visp3/core/vpColVector.h>
40#include <visp3/core/vpRotationVector.h>
41#include <visp3/core/vpRowVector.h>
42
54{
56
57 for (unsigned int i = 0; i < dsize; i++)
58 v[i] = data[i];
59
60 return v;
61}
62
67std::vector<double> vpRotationVector::toStdVector() const
68{
69 std::vector<double> v(this->size());
70
71 for (unsigned int i = 0; i < this->size(); i++)
72 v[i] = data[i];
73 return v;
74}
75
87{
89
90 for (unsigned int i = 0; i < dsize; i++)
91 v[i] = (*this)[i] * x;
92 return v;
93}
94
99vpColVector operator*(const double &x, const vpRotationVector &v)
100{
101 vpColVector vout;
102 vout = v * x;
103 return vout;
104}
105
130{
131 m_index = 0;
132 data[m_index] = val;
133 return *this;
134}
135
160{
161 m_index++;
162 if (m_index >= size()) {
164 "Cannot set rotation vector out of bounds. It has only %d elements while you try to initialize "
165 "with %d elements",
166 size(), m_index + 1));
167 }
168 data[m_index] = val;
169 return *this;
170}
171
179{
180 double sum_square = 0.0;
181
182 for (unsigned int i = 0; i < rowNum; i++) {
183 double x = rowPtrs[i][0];
184 sum_square += x * x;
185 }
186
187 return sum_square;
188}
double * data
Address of the first element of the data array.
Definition vpArray2D.h:144
double ** rowPtrs
Address of the first element of each rows.
Definition vpArray2D.h:138
unsigned int rowNum
Number of rows in the array.
Definition vpArray2D.h:134
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< double > &A)
Definition vpArray2D.h:529
unsigned int dsize
Current array size (rowNum * colNum)
Definition vpArray2D.h:140
unsigned int size() const
Return the number of elements of the 2D array.
Definition vpArray2D.h:292
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ dimensionError
Bad dimension.
Definition vpException.h:83
Implementation of a generic rotation vector.
double sumSquare() const
std::vector< double > toStdVector() const
vpColVector operator*(double x) const
vpColVector operator*(const double &x, const vpRotationVector &v)
vpRotationVector & operator,(double val)
vpRowVector t() const
Implementation of row vector and the associated operations.