Visual Servoing Platform version 3.5.0
vpRotationVector.cpp
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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#include <algorithm>
40#include <math.h>
41
42#include <visp3/core/vpColVector.h>
43#include <visp3/core/vpRotationVector.h>
44#include <visp3/core/vpRowVector.h>
45
57{
59
60 for (unsigned int i = 0; i < dsize; i++)
61 v[i] = data[i];
62
63 return v;
64}
65
70std::vector<double> vpRotationVector::toStdVector() const
71{
72 std::vector<double> v(this->size());
73
74 for (unsigned int i = 0; i < this->size(); i++)
75 v[i] = data[i];
76 return v;
77}
78
90{
92
93 for (unsigned int i = 0; i < dsize; i++)
94 v[i] = (*this)[i] * x;
95 return v;
96}
97
102vpColVector operator*(const double &x, const vpRotationVector &v)
103{
104 vpColVector vout;
105 vout = v * x;
106 return vout;
107}
108
133{
134 m_index = 0;
135 data[m_index] = val;
136 return *this;
137}
138
163{
164 m_index ++;
165 if (m_index >= size()) {
166 throw(vpException(vpException::dimensionError, "Cannot set rotation vector out of bounds. It has only %d elements while you try to initialize with %d elements", 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:145
double ** rowPtrs
Address of the first element of each rows.
Definition: vpArray2D.h:139
unsigned int rowNum
Number of rows in the array.
Definition: vpArray2D.h:135
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:141
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
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ dimensionError
Bad dimension.
Definition: vpException.h:95
Implementation of a generic rotation vector.
unsigned int m_index
double sumSquare() const
vpRotationVector & operator<<(double val)
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.
Definition: vpRowVector.h:116