#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)
const double &	x () const
const double &	y () const
const double &	z () const
const double &	w () const
double &	x ()
double &	y ()
double &	z ()
double &	w ()
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
vpQuaternionVector &	operator= (const vpColVector &q)
vpQuaternionVector &	operator= (const vpQuaternionVector &q)=default
vpQuaternionVector &	operator= (const std::initializer_list< double > &list)
vpQuaternionVector	conjugate () const
vpQuaternionVector	inverse () const
double	magnitude () const
void	normalize ()
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)
void	insert (const vpArray2D< double > &A, unsigned int r, unsigned int c)
bool	operator!= (const vpArray2D< double > &A) const
vpArray2D< double >	hadamard (const vpArray2D< double > &m) const

Static Public Member Functions
static double	dot (const vpQuaternionVector &q0, const vpQuaternionVector &q1)
static vpQuaternionVector	lerp (const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
static vpQuaternionVector	nlerp (const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
static vpQuaternionVector	slerp (const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
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="")
static vpArray2D< double >	conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, const std::string &mode)

Public Attributes
double *	data

Protected Attributes
unsigned int	rowNum
unsigned int	colNum
double **	rowPtrs
unsigned int	dsize

Related Symbols
(Note that these are not member symbols.)
vpColVector	operator* (const double &x, const vpRotationVector &v)
bool	operator== (const vpArray2D< double > &A) const
bool	operator== (const vpArray2D< float > &A) const
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)
enum	vpGEMMmethod

Inherited functionalities from vpRotationVector
double &	operator[] (unsigned int i)
const double &	operator[] (unsigned int i) const
vpRotationVector &	operator<< (double val)
vpRotationVector &	operator, (double val)
double	sumSquare () const
vpRowVector	t () const
std::vector< double >	toStdVector () const
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:

vpQuaternionVector q;
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: calibrate-hand-eye.cpp, testEigenConversion.cpp, testMatrixInitialization.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testQuaternion2.cpp, testRealSense2_T265_images_odometry_async.cpp, testRotation2.cpp, tutorial-hand-eye-calibration.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 106 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 55 of file vpQuaternionVector.cpp.

References vpRotationVector::vpRotationVector().

Referenced by buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), conjugate(), dot(), inverse(), lerp(), nlerp(), operator*(), operator*(), operator+(), operator-(), operator-(), operator/(), operator=(), operator=(), operator=(), slerp(), and vpQuaternionVector().

◆ vpQuaternionVector() [2/7]

vpQuaternionVector::vpQuaternionVector ( const vpQuaternionVector & q )

Copy constructor.

Definition at line 58 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), and vpRotationVector::vpRotationVector().

◆ vpQuaternionVector() [3/7]

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

Constructor from doubles.

Definition at line 61 of file vpQuaternionVector.cpp.

References set(), and vpRotationVector::vpRotationVector().

◆ 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 77 of file vpQuaternionVector.cpp.

References buildFrom(), and vpRotationVector::vpRotationVector().

◆ 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 85 of file vpQuaternionVector.cpp.

References buildFrom(), and vpRotationVector::vpRotationVector().

◆ vpQuaternionVector() [6/7]

vpQuaternionVector::vpQuaternionVector ( const vpColVector & q )

explicit

Constructor from a 4-dimension vector of doubles.

Definition at line 67 of file vpQuaternionVector.cpp.

References buildFrom(), and vpRotationVector::vpRotationVector().

◆ vpQuaternionVector() [7/7]

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

explicit

Constructor from a 4-dimension vector of doubles.

Definition at line 70 of file vpQuaternionVector.cpp.

References buildFrom(), and vpRotationVector::vpRotationVector().

◆ ~vpQuaternionVector()

virtual vpQuaternionVector::~vpQuaternionVector ( )

inlinevirtual

Destructor.

Definition at line 121 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 110 of file vpQuaternionVector.cpp.

References set(), and vpQuaternionVector().

Referenced by vp::eigen2visp(), vpHomogeneousMatrix::extract(), vpPoseVector::extract(), vpQuaternionVector(), vpQuaternionVector(), vpQuaternionVector(), and vpQuaternionVector().

◆ 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 148 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, and vpQuaternionVector().

◆ 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 133 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< Type >::size(), and vpQuaternionVector().

◆ buildFrom() [4/5]

vpQuaternionVector vpQuaternionVector::buildFrom ( const vpRotationMatrix & R )

Constructs a quaternion from a rotation matrix.

Parameters

R	: Rotation matrix.

Definition at line 251 of file vpQuaternionVector.cpp.

References vpThetaUVector::extract(), set(), and vpQuaternionVector().

◆ 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 122 of file vpQuaternionVector.cpp.

References buildFrom(), and vpQuaternionVector().

Referenced by buildFrom().

◆ conjugate()

vpQuaternionVector vpQuaternionVector::conjugate ( ) const

Quaternion conjugate.

Returns: The conjugate quaternion.

Definition at line 270 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

Referenced by inverse(), and operator=().

◆ conv2()

vpArray2D< double > vpArray2D< double >::conv2	(	const vpArray2D< double > &	M,
		const vpArray2D< double > &	kernel,
		const std::string &	mode )

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First matrix.
kernel	: Second matrix.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Examples: testMatrixConvolution.cpp.

Definition at line 954 of file vpArray2D.h.

References vpArray2D().

◆ dot()

double vpQuaternionVector::dot	(	const vpQuaternionVector &	q0,
		const vpQuaternionVector &	q1 )

static

Compute dot product between two quaternions.

Parameters

q0	: First quaternion.
q1	: Second quaternion.

Returns: The dot product between q0 and q1.

Definition at line 317 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

Referenced by lerp(), operator=(), and slerp().

◆ getCols()

unsigned int vpArray2D< double >::getCols ( ) const

inlineinherited

Return the number of columns of the 2D array.

See also: getRows(), size()

Examples: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, and tutorial-matlab.cpp.

Definition at line 280 of file vpArray2D.h.

Referenced by vpMatrix::cond(), vpMatrix::cppPrint(), vpRowVector::cppPrint(), vpMatrix::csvPrint(), vpRowVector::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpRotationMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpRotationMatrix::isARotationMatrix(), vpMatrix::kernel(), vpMatrix::maplePrint(), vpRowVector::maplePrint(), vpMatrix::matlabPrint(), vpRowVector::matlabPrint(), vpMatrix::nullSpace(), vpMatrix::nullSpace(), vpRowVector::operator*(), vpRowVector::operator+(), vpRowVector::operator+=(), vpRowVector::operator-(), vpRowVector::operator-=(), vpForceTwistMatrix::print(), vpMatrix::print(), vpRowVector::print(), vpVelocityTwistMatrix::print(), vpMatrix::row(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpRowVector::vpRowVector(), and vpRowVector::vpRowVector().

◆ getMaxValue()

double vpArray2D< double >::getMaxValue ( ) const

inherited

Return the array max value.

Examples: servoMomentImage.cpp.

Definition at line 282 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue ( ) const

inherited

Return the array min value.

Examples: servoMomentImage.cpp.

Definition at line 284 of file vpArray2D.h.

◆ getRows()

unsigned int vpArray2D< double >::getRows ( ) const

inlineinherited

Return the number of rows of the 2D array.

See also: getCols(), size()

Examples: mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, and tutorial-matlab.cpp.

Definition at line 290 of file vpArray2D.h.

Referenced by vpMatrix::column(), vpMatrix::cond(), vpColVector::cppPrint(), vpMatrix::cppPrint(), vpColVector::csvPrint(), vpMatrix::csvPrint(), vpMatrix::detByLUEigen3(), vpMatrix::extract(), vpHomogeneousMatrix::getCol(), vpMatrix::getCol(), vpRotationMatrix::getCol(), vpMatrix::inducedL2Norm(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByQRLapack(), vpRotationMatrix::isARotationMatrix(), vpMatrix::kernel(), vpColVector::maplePrint(), vpMatrix::maplePrint(), vpColVector::matlabPrint(), vpMatrix::matlabPrint(), vpMatrix::nullSpace(), vpMatrix::nullSpace(), vpColVector::operator+(), vpColVector::operator+(), vpColVector::operator+=(), vpColVector::operator-(), vpColVector::operator-=(), vpColVector::print(), vpForceTwistMatrix::print(), vpMatrix::print(), vpPoseVector::print(), vpVelocityTwistMatrix::print(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpColVector::vpColVector(), and vpColVector::vpColVector().

◆ 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 554 of file vpArray2D.h.

References vpArray2D().

◆ insert()

void vpArray2D< double >::insert	(	const vpArray2D< double > &	A,
		unsigned int	r,
		unsigned int	c )

inlineinherited

Insert array A at the given position in the current array.

Warning: Throw vpException::dimensionError if the dimensions of the matrices do not allow the operation.

Parameters

A	: The array to insert.
r	: The index of the row to begin to insert data.
c	: The index of the column to begin to insert data.

Definition at line 417 of file vpArray2D.h.

◆ inverse()

vpQuaternionVector vpQuaternionVector::inverse ( ) const

Quaternion inverse.

Returns: The inverse quaternion.

Definition at line 277 of file vpQuaternionVector.cpp.

References conjugate(), vpMath::nul(), vpQuaternionVector(), w(), x(), y(), and z().

Referenced by operator=().

◆ lerp()

vpQuaternionVector vpQuaternionVector::lerp	(	const vpQuaternionVector &	q0,
		const vpQuaternionVector &	q1,
		double	t )

static

Compute Quaternion Linear intERPolation (LERP). See the following references:

Note: Shortest path will be use.

Parameters

q0	: Start quaternion.
q1	: End quaternion.
t	: Interpolation value between [0, 1].

Returns: The interpolated quaternion using the LERP method.

Examples: testQuaternion2.cpp.

Definition at line 385 of file vpQuaternionVector.cpp.

References dot(), vpRotationVector::t(), vpQuaternionVector(), w(), x(), y(), and z().

Referenced by nlerp(), and operator=().

◆ load()

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 582 of file vpArray2D.h.

◆ loadYAML()

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, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 696 of file vpArray2D.h.

◆ magnitude()

double vpQuaternionVector::magnitude ( ) const

Quaternion magnitude or norm.

Returns: The magnitude or norm of the quaternion.

Definition at line 296 of file vpQuaternionVector.cpp.

References w(), x(), y(), and z().

Referenced by normalize(), and operator=().

◆ nlerp()

vpQuaternionVector vpQuaternionVector::nlerp	(	const vpQuaternionVector &	q0,
		const vpQuaternionVector &	q1,
		double	t )

static

Compute Quaternion Normalized Linear intERPolation (NLERP). See the following references:

Note: Shortest path will be use.

Parameters

q0	: Start quaternion.
q1	: End quaternion.
t	: Interpolation value between [0, 1].

Returns: The interpolated quaternion using the NLERP method.

Examples: testQuaternion2.cpp.

Definition at line 419 of file vpQuaternionVector.cpp.

References lerp(), normalize(), vpRotationVector::t(), and vpQuaternionVector().

Referenced by operator=().

◆ normalize()

void vpQuaternionVector::normalize ( )

Normalize the quaternion.

Definition at line 301 of file vpQuaternionVector.cpp.

References magnitude(), vpMath::nul(), set(), w(), x(), y(), and z().

Referenced by nlerp(), operator=(), and slerp().

◆ operator!=()

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

inherited

Not equal to comparison operator of a 2D array.

Definition at line 442 of file vpArray2D.h.

References vpArray2D().

◆ operator*() [1/2]

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

Multiply two quaternions.

Definition at line 193 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator*() [2/2]

vpQuaternionVector vpQuaternionVector::operator* ( double l ) const

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

Definition at line 187 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ 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 167 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ 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()
{
  vpThetaUVector tu;
  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 159 of file vpRotationVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, m_index, vpArray2D< double >::size(), and vpRotationVector().

◆ operator-() [1/2]

vpQuaternionVector vpQuaternionVector::operator- ( ) const

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

Definition at line 184 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ operator-() [2/2]

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

Quaternion subtraction.

subtracts a quaternion from another. subtraction is component-wise.

Parameters

q	: quaternion to subtract.

Definition at line 178 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

◆ 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 202 of file vpQuaternionVector.cpp.

References vpException::fatalError, vpMath::nul(), vpQuaternionVector(), w(), x(), y(), and z().

◆ 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()
{
  vpThetaUVector tu;
  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 129 of file vpRotationVector.cpp.

References vpArray2D< double >::data, m_index, and vpRotationVector().

◆ 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 358 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< double >::size(), and vpQuaternionVector().

◆ 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()
{
  vpColVector v(4);
  v[0] = 0.1;
  v[1] = 0.2;
  v[2] = 0.3;
  v[3] = 0.4;
  vpQuaternionVector q;
  q = v;
  // q is now equal to v : 0.1, 0.2, 0.3, 0.4
}

Definition at line 234 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< Type >::size(), and vpQuaternionVector().

◆ operator=() [3/3]

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

default

References conjugate(), dot(), inverse(), lerp(), magnitude(), nlerp(), normalize(), slerp(), vpRotationVector::t(), and vpQuaternionVector().

◆ 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 122 of file vpRotationVector.h.

References vpArray2D< double >::data.

◆ 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 127 of file vpRotationVector.h.

References vpArray2D< double >::data.

◆ reshape()

void vpArray2D< double >::reshape	(	unsigned int	nrows,
		unsigned int	ncols )

inlineinherited

Examples: testMatrixInitialization.cpp.

Definition at line 383 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.

Examples: testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 305 of file vpArray2D.h.

Referenced by vpMatrix::diag(), vpMatrix::eye(), vpMatrix::init(), vpMatrix::operator,(), vpMatrix::operator<<(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), and vpMatrix::svdOpenCV().

◆ save()

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 784 of file vpArray2D.h.

◆ saveYAML()

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<double> M(3,4);
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
data:
  - [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
data:
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]

See also: loadYAML()

Examples: tutorial-franka-acquire-calib-data.cpp, and tutorial-universal-robots-acquire-calib-data.cpp.

Definition at line 875 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 94 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by buildFrom(), buildFrom(), normalize(), and vpQuaternionVector().

◆ size()

unsigned int vpArray2D< double >::size ( ) const

inlineinherited

Return the number of elements of the 2D array.

Examples: testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRowVector.cpp, testThread2.cpp, testTukeyEstimator.cpp, testUniversalRobotsGetData.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 292 of file vpArray2D.h.

Referenced by vpHomogeneousMatrix::isValid(), vpColVector::operator*(), vpHomogeneousMatrix::operator,(), vpRotationMatrix::operator,(), vpRotationVector::operator,(), vpTranslationVector::operator,(), vpQuaternionVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpRzyzVector::operator=(), vpThetaUVector::operator=(), vpThetaUVector::operator=(), vpTranslationVector::operator=(), vpMatrix::stack(), vpColVector::toStdVector(), vpPoseVector::toStdVector(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), vpColVector::vpColVector(), vpColVector::vpColVector(), vpColVector::vpColVector(), vpColVector::vpColVector(), vpColVector::vpColVector(), vpColVector::vpColVector(), vpRowVector::vpRowVector(), and vpRowVector::vpRowVector().

◆ slerp()

vpQuaternionVector vpQuaternionVector::slerp	(	const vpQuaternionVector &	q0,
		const vpQuaternionVector &	q1,
		double	t )

static

Compute Quaternion Spherical Linear intERPolation (SLERP). See the following references:

Note: Shortest path will be use.

Parameters

q0	: Start quaternion.
q1	: End quaternion.
t	: Interpolation value between [0, 1].

Returns: The interpolated quaternion using the SLERP method.

Examples: testQuaternion2.cpp.

Definition at line 443 of file vpQuaternionVector.cpp.

References dot(), normalize(), vpRotationVector::t(), vpQuaternionVector(), w(), x(), y(), and z().

Referenced by operator=().

◆ 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: servoAfma6AprilTagPBVS.cpp, servoAfma6MegaposePBVS.cpp, servoFrankaPBVS.cpp, and servoUniversalRobotsPBVS.cpp.

Definition at line 178 of file vpRotationVector.cpp.

References vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

◆ t()

vpRowVector vpRotationVector::t ( ) const

inherited

Return the transpose of the rotation vector.

Examples: calibrate-hand-eye.cpp, testEigenConversion.cpp, testMatrixInitialization.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testViper650.cpp, testViper850.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 53 of file vpRotationVector.cpp.

References vpArray2D< double >::data, and vpArray2D< double >::dsize.

Referenced by vpQuaternionVector::lerp(), vpQuaternionVector::nlerp(), vpQuaternionVector::operator=(), and vpQuaternionVector::slerp().

◆ toStdVector()

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

inherited

Converts the vpRotationVector to a std::vector.

Returns: The corresponding std::vector<double>.

Definition at line 67 of file vpRotationVector.cpp.

References vpArray2D< double >::data, and vpArray2D< double >::size().

◆ w() [1/2]

double & vpQuaternionVector::w ( )

Returns a reference to the w-component of the quaternion.

Definition at line 338 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ w() [2/2]

const double & vpQuaternionVector::w ( ) const

Returns the w-component of the quaternion.

Definition at line 329 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator*(), operator+(), operator-(), operator-(), operator/(), slerp(), and vp::visp2eigen().

◆ x() [1/2]

double & vpQuaternionVector::x ( )

Returns a reference to the x-component of the quaternion.

Definition at line 332 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ x() [2/2]

const double & vpQuaternionVector::x ( ) const

Returns the x-component of the quaternion.

Definition at line 323 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator*(), operator+(), operator-(), operator-(), operator/(), slerp(), and vp::visp2eigen().

◆ y() [1/2]

double & vpQuaternionVector::y ( )

Returns a reference to the y-component of the quaternion.

Definition at line 334 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ y() [2/2]

const double & vpQuaternionVector::y ( ) const

Returns the y-component of the quaternion.

Definition at line 325 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator*(), operator+(), operator-(), operator-(), operator/(), slerp(), and vp::visp2eigen().

◆ z() [1/2]

double & vpQuaternionVector::z ( )

Returns a reference to the z-component of the quaternion.

Definition at line 336 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

◆ z() [2/2]

const double & vpQuaternionVector::z ( ) const

Returns the z-component of the quaternion.

Definition at line 327 of file vpQuaternionVector.cpp.

References vpArray2D< double >::data.

Referenced by vpRotationMatrix::buildFrom(), conjugate(), dot(), inverse(), lerp(), magnitude(), normalize(), operator*(), operator*(), operator+(), operator-(), operator-(), operator/(), slerp(), and vp::visp2eigen().

◆ operator*()

vpColVector operator*	(	const double &	x,
		const vpRotationVector &	v )

Allows to multiply a scalar by rotaion vector.

Definition at line 99 of file vpRotationVector.cpp.

References vpRotationVector().

◆ operator==() [1/2]

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

Definition at line 1191 of file vpArray2D.h.

References vpArray2D< Type >::colNum, colNum, vpArray2D< Type >::data, data, vpArray2D< Type >::rowNum, rowNum, vpArray2D< Type >::size(), and vpArray2D().

◆ operator==() [2/2]

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

Definition at line 1209 of file vpArray2D.h.

References vpArray2D< Type >::colNum, colNum, vpArray2D< Type >::data, data, vpArray2D< Type >::rowNum, rowNum, vpArray2D< Type >::size(), and vpArray2D().

◆ 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 )

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);

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:388

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::incorrectMatrixSizeError if 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 388 of file vpGEMM.h.

References vpException::functionNotImplementedError, and vpArray2D().

◆ vpGEMMmethod

enum vpGEMMmethod

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 52 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, testUniversalRobotsGetData.cpp, tutorial-bridge-opencv-matrix.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.

Referenced by vpColVector::clear(), vpMatrix::clear(), vpRowVector::clear(), vpMatrix::frobeniusNorm(), vpMatrix::hadamard(), vpMatrix::inducedL2Norm(), vpSubColVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), vpRotationVector::operator*(), vpTranslationVector::operator*(), vpTranslationVector::operator-(), vpTranslationVector::operator/(), vpColVector::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpRotationMatrix::operator=(), vpRowVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpRzyzVector::operator=(), vpThetaUVector::operator=(), vpColVector::reshape(), vpRowVector::reshape(), vpRotationVector::t(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ m_index

unsigned int vpRotationVector::m_index

protectedinherited

Definition at line 156 of file vpRotationVector.h.

Referenced by operator,(), operator<<(), vpRotationVector(), vpRotationVector(), and vpRotationVector().

◆ 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.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Symbols

Inherited functionalities from vpRotationVector

Detailed Description

Constructor & Destructor Documentation

◆ vpQuaternionVector() [1/7]

◆ vpQuaternionVector() [2/7]

◆ vpQuaternionVector() [3/7]

◆ vpQuaternionVector() [4/7]

◆ vpQuaternionVector() [5/7]

◆ vpQuaternionVector() [6/7]

◆ vpQuaternionVector() [7/7]

◆ ~vpQuaternionVector()

Member Function Documentation

◆ buildFrom() [1/5]

◆ buildFrom() [2/5]

◆ buildFrom() [3/5]

◆ buildFrom() [4/5]

◆ buildFrom() [5/5]

◆ conjugate()

◆ conv2()

◆ dot()

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ hadamard()

◆ insert()

◆ inverse()

◆ lerp()

◆ load()

◆ loadYAML()

◆ magnitude()

◆ nlerp()

◆ normalize()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+()

◆ operator,()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator/()

◆ operator<<()

◆ operator=() [1/3]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reshape()

◆ resize()

◆ save()

◆ saveYAML()

◆ set()

◆ size()

◆ slerp()

◆ sumSquare()

◆ t()

◆ toStdVector()

◆ w() [1/2]

◆ w() [2/2]

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]

Friends And Related Symbol Documentation

◆ operator*()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ vpGEMM()

◆ vpGEMMmethod

Member Data Documentation

◆ colNum

◆ data

◆ dsize