Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpThetaUVector Class Reference
core: Core module » Mathematics » Tranformations

#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
vpThetaUVector & operator= (const vpColVector &tu)
vpThetaUVector & operator= (double x)
vpThetaUVector operator* (const vpThetaUVector &tu_b) const
vpThetaUVector & operator= (const std::initializer_list< double > &list)
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

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

(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
vpColVector operator* (double x) 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 $\theta {\bf u}$ 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:

vpThetaUVector tu;
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 finally 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()
{
vpThetaUVector tu;
// 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
vpRotationMatrix R(tu);
// 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;
}
vpMath::rad
static double rad(double deg)
Definition vpMath.h:116
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition vpRotationMatrix.h:118
vpRowVector
Implementation of row vector and the associated operations.
Definition vpRowVector.h:111
vpRowVector::t
vpColVector t() const
Definition vpRowVector.cpp:502
vpThetaUVector::buildFrom
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
Definition vpThetaUVector.cpp:111
Examples
calibrate-hand-eye.cpp, exponentialMap.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6MegaposePBVS.cpp, servoFrankaPBVS.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoUniversalRobotsPBVS.cpp, testAprilTag.cpp, testDisplacement.cpp, testEigenConversion.cpp, testFeature.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testQuaternion2.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRotation2.cpp, tutorial-hand-eye-calibration.cpp, tutorial-homography-from-points.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 167 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 50 of file vpThetaUVector.cpp.

References vpRotationVector::vpRotationVector().

Referenced by buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), operator*(), operator=(), operator=(), operator=(), and vpThetaUVector().

◆ vpThetaUVector() [2/12]

vpThetaUVector::vpThetaUVector ( const vpThetaUVector & tu)

Copy constructor.

Definition at line 52 of file vpThetaUVector.cpp.

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

◆ vpThetaUVector() [3/12]

vpThetaUVector::vpThetaUVector ( const vpHomogeneousMatrix & M)
explicit

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

Definition at line 58 of file vpThetaUVector.cpp.

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

◆ vpThetaUVector() [4/12]

vpThetaUVector::vpThetaUVector ( const vpPoseVector & p)
explicit

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

Definition at line 62 of file vpThetaUVector.cpp.

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

◆ vpThetaUVector() [5/12]

vpThetaUVector::vpThetaUVector ( const vpRotationMatrix & R)
explicit

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

Definition at line 66 of file vpThetaUVector.cpp.

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

◆ 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 71 of file vpThetaUVector.cpp.

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

◆ 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 75 of file vpThetaUVector.cpp.

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

◆ 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 79 of file vpThetaUVector.cpp.

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

◆ vpThetaUVector() [9/12]

vpThetaUVector::vpThetaUVector ( const vpQuaternionVector & q)
explicit

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

Definition at line 83 of file vpThetaUVector.cpp.

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

◆ vpThetaUVector() [10/12]

vpThetaUVector::vpThetaUVector ( const vpColVector & tu)
explicit

Copy constructor from a 3-dimension vector.

Definition at line 54 of file vpThetaUVector.cpp.

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

◆ 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 106 of file vpThetaUVector.cpp.

References buildFrom().

◆ 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 101 of file vpThetaUVector.cpp.

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

◆ ~vpThetaUVector()

virtual vpThetaUVector::~vpThetaUVector ( )
inlinevirtual

Destructor.

Definition at line 194 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 241 of file vpThetaUVector.cpp.

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

◆ buildFrom() [2/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpColVector & tu)

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

Definition at line 256 of file vpThetaUVector.cpp.

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

◆ 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 111 of file vpThetaUVector.cpp.

References buildFrom(), vpHomogeneousMatrix::extract(), and vpThetaUVector().

Referenced by vpPoseVector::buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), vp::eigen2visp(), vpHomogeneousMatrix::extract(), vpRotationMatrix::getThetaUVector(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpExponentialMap::inverse(), vpSimulatorAfma6::setPosition(), vpThetaUVector(), vpThetaUVector(), vpThetaUVector(), vpThetaUVector(), vpThetaUVector(), vpThetaUVector(), vpThetaUVector(), vpThetaUVector(), vpThetaUVector(), and vpThetaUVector().

◆ 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 124 of file vpThetaUVector.cpp.

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

◆ buildFrom() [5/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpQuaternionVector & q)

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

Definition at line 230 of file vpThetaUVector.cpp.

References buildFrom(), and vpThetaUVector().

◆ buildFrom() [6/10]

vpThetaUVector vpThetaUVector::buildFrom ( const vpRotationMatrix & R)

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

Definition at line 135 of file vpThetaUVector.cpp.

References vpArray2D< double >::data, vpMath::sign(), vpMath::sinc(), and vpThetaUVector().

◆ 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 219 of file vpThetaUVector.cpp.

References buildFrom(), and vpThetaUVector().

◆ 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 199 of file vpThetaUVector.cpp.

References buildFrom(), and vpThetaUVector().

Referenced by buildFrom().

◆ 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 209 of file vpThetaUVector.cpp.

References buildFrom(), and vpThetaUVector().

◆ 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 439 of file vpThetaUVector.cpp.

References vpArray2D< double >::data.

◆ 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().

◆ 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()
{
vpHomogeneousMatrix M(0, 0, 1., vpMath::rad(10), vpMath::rad(20), vpMath::rad(30));
double theta;
vpColVector u;
M.getRotationMatrix().getThetaUVector().extract(theta, u);
std::cout << "theta: " << theta << std::endl;
std::cout << "u : " << u.t() << std::endl;
}
vpColVector
Implementation of column vector and the associated operations.
Definition vpColVector.h:167
vpColVector::extract
vpColVector extract(unsigned int r, unsigned int colsize) const
Definition vpColVector.h:257
vpColVector::t
vpRowVector t() const
Definition vpColVector.cpp:809
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition vpHomogeneousMatrix.h:201
See also
getTheta(), getU()

Definition at line 360 of file vpThetaUVector.cpp.

References vpArray2D< double >::data, getTheta(), and vpColVector::resize().

Referenced by vpQuaternionVector::buildFrom().

◆ 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().

◆ 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()
{
vpHomogeneousMatrix M(0, 0, 1., vpMath::rad(10), vpMath::rad(20), vpMath::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 396 of file vpThetaUVector.cpp.

References vpArray2D< double >::data.

Referenced by extract(), getU(), operator*(), and vp::visp2eigen().

◆ 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 421 of file vpThetaUVector.cpp.

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

Referenced by operator*(), and vp::visp2eigen().

◆ 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.

◆ 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.

◆ 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]

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 86 of file vpRotationVector.cpp.

References vpArray2D< double >::dsize.

◆ operator*() [2/2]

vpThetaUVector vpThetaUVector::operator* ( const vpThetaUVector & tu_b) const

Perform rotation chaining / rotation multiplication using the theta.u rotation representation. See: this answer for some details about the maths.

Definition at line 450 of file vpThetaUVector.cpp.

References vpColVector::crossProd(), vpColVector::dotProd(), getTheta(), getU(), and vpThetaUVector().

◆ 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;
}
vpRotationVector::t
vpRowVector t() const
Definition vpRotationVector.cpp:53

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<<()

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]

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 485 of file vpThetaUVector.cpp.

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

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

Definition at line 320 of file vpThetaUVector.cpp.

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

◆ 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()
{
vpThetaUVector tu;
// Initialise the theta U rotation vector
tu = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}

Definition at line 289 of file vpThetaUVector.cpp.

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

◆ 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");
vpArray2D::saveYAML
static bool saveYAML(const std::string &filename, const vpArray2D< Type > &A, const char *header="")
Definition vpArray2D.h:875

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.

◆ 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().

◆ 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().

◆ operator*()

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

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
related

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
related

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 )
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);
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::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 388 of file vpGEMM.h.

References vpException::functionNotImplementedError, and vpArray2D().

◆ 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 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.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::clear(), vpRowVector::clear(), vpMatrix::detByLU(), vpMatrix::detByLUEigen3(), vpMatrix::detByLULapack(), vpMatrix::detByLUOpenCV(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::eigenValues(), vpMatrix::expm(), vpRowVector::extract(), vpMatrix::eye(), vpMatrix::getDiag(), vpMatrix::getRow(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), vpMatrix::insert(), vpRowVector::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLU(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLULapack(), vpMatrix::inverseByLUOpenCV(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*(), vpRotationMatrix::operator*(), vpRowVector::operator*(), vpRowVector::operator*(), vpRowVector::operator*(), vpMatrix::operator*=(), vpRotationMatrix::operator*=(), vpRowVector::operator*=(), vpRowVector::operator+(), vpMatrix::operator+=(), vpMatrix::operator+=(), vpRowVector::operator+=(), vpMatrix::operator,(), vpRowVector::operator,(), vpRowVector::operator-(), vpRowVector::operator-(), vpMatrix::operator-=(), vpMatrix::operator-=(), vpRowVector::operator-=(), vpMatrix::operator/(), vpRowVector::operator/(), vpMatrix::operator/=(), vpRowVector::operator/=(), vpColVector::operator<<(), vpMatrix::operator<<(), vpColVector::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpRowVector::operator=(), vpRowVector::operator=(), vpRowVector::operator=(), vpRowVector::operator=(), vpSubMatrix::operator=(), vpSubMatrix::operator=(), vpSubMatrix::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), operator==(), operator==(), vpColVector::operator==(), vpRowVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpRowVector::reshape(), vpMatrix::setIdentity(), vpMatrix::solveByQR(), vpMatrix::solveByQR(), vpMatrix::solveBySVD(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), vpRowVector::stack(), vpMatrix::stackColumns(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpMatrix::stackRows(), vpMatrix::sum(), vpRowVector::sum(), vpMatrix::sumSquare(), vpRowVector::sumSquare(), vpMatrix::svdLapack(), vpRowVector::t(), vpMatrix::transpose(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ 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.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpHomogeneousMatrix::buildFrom(), vpHomogeneousMatrix::buildFrom(), vpQuaternionVector::buildFrom(), vpQuaternionVector::buildFrom(), vpRxyzVector::buildFrom(), vpRxyzVector::buildFrom(), vpRxyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpRzyxVector::buildFrom(), vpRzyxVector::buildFrom(), vpRzyzVector::buildFrom(), vpRzyzVector::buildFrom(), vpRzyzVector::buildFrom(), vpThetaUVector::buildFrom(), vpThetaUVector::buildFrom(), vpThetaUVector::buildFrom(), vpThetaUVector::buildFrom(), vpThetaUVector::buildFrom(), vpSubColVector::checkParentStatus(), vpSubMatrix::checkParentStatus(), vpSubRowVector::checkParentStatus(), vpColVector::clear(), vpMatrix::clear(), vpRowVector::clear(), vpHomogeneousMatrix::convert(), vpHomogeneousMatrix::convert(), vpMatrix::detByLUEigen3(), vpMatrix::detByLUOpenCV(), vpMatrix::expm(), vpThetaUVector::extract(), vpMatrix::frobeniusNorm(), vpMatrix::getRow(), vpThetaUVector::getTheta(), vpThetaUVector::getU(), vpColVector::hadamard(), vpMatrix::hadamard(), vpSubColVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), vpColVector::insert(), vpColVector::insert(), vpMatrix::insert(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLUOpenCV(), vpHomogeneousMatrix::isValid(), vpColVector::operator*(), vpHomography::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpRowVector::operator*(), vpRowVector::operator*(), vpTranslationVector::operator*(), vpColVector::operator,(), vpHomogeneousMatrix::operator,(), vpRotationMatrix::operator,(), vpRotationVector::operator,(), vpRowVector::operator,(), vpTranslationVector::operator,(), vpColVector::operator-(), vpRowVector::operator-(), vpTranslationVector::operator-(), vpColVector::operator/(), vpHomography::operator/(), vpRowVector::operator/(), vpTranslationVector::operator/(), vpHomography::operator/=(), vpColVector::operator<<(), vpHomogeneousMatrix::operator<<(), vpRotationMatrix::operator<<(), vpRotationVector::operator<<(), vpRowVector::operator<<(), vpTranslationVector::operator<<(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpQuaternionVector::operator=(), vpQuaternionVector::operator=(), vpRotationMatrix::operator=(), vpRotationVector::operator=(), vpRowVector::operator=(), vpRowVector::operator=(), vpRowVector::operator=(), vpRowVector::operator=(), vpRxyzVector::operator=(), vpRxyzVector::operator=(), vpRxyzVector::operator=(), vpRzyxVector::operator=(), vpRzyxVector::operator=(), vpRzyxVector::operator=(), vpRzyzVector::operator=(), vpRzyzVector::operator=(), vpRzyzVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), vpThetaUVector::operator=(), vpThetaUVector::operator=(), vpThetaUVector::operator=(), vpTranslationVector::operator=(), vpTranslationVector::operator=(), vpTranslationVector::operator=(), vpTranslationVector::operator=(), operator==(), operator==(), vpColVector::operator==(), vpColVector::operator==(), vpRowVector::operator==(), vpColVector::operator[](), vpColVector::operator[](), vpPoseVector::operator[](), vpPoseVector::operator[](), vpRotationVector::operator[](), vpRotationVector::operator[](), vpRowVector::operator[](), vpRowVector::operator[](), vpTranslationVector::operator[](), vpTranslationVector::operator[](), vpRotationMatrix::orthogonalize(), vpHomogeneousMatrix::orthogonalizeRotation(), vpMatrix::qr(), vpMatrix::qrPivot(), vpColVector::reshape(), vpRowVector::reshape(), vpQuaternionVector::set(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stackRows(), vpColVector::sum(), vpColVector::sumSquare(), vpMatrix::svdEigen3(), vpMatrix::svdLapack(), vpMatrix::svdOpenCV(), vpColVector::t(), vpPoseVector::t(), vpRotationVector::t(), vpRowVector::t(), vpTranslationVector::t(), vpColVector::toStdVector(), vpPoseVector::toStdVector(), vpRotationVector::toStdVector(), vpRowVector::toStdVector(), vpMatrix::transpose(), vpColVector::vpColVector(), vpColVector::vpColVector(), vpHomogeneousMatrix::vpHomogeneousMatrix(), vpMatrix::vpMatrix(), vpRowVector::vpRowVector(), vpQuaternionVector::w(), vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::x(), vpQuaternionVector::y(), vpQuaternionVector::y(), vpQuaternionVector::z(), vpQuaternionVector::z(), vpSubColVector::~vpSubColVector(), vpSubMatrix::~vpSubMatrix(), and vpSubRowVector::~vpSubRowVector().

◆ 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.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpColVector::clear(), vpMatrix::clear(), vpRowVector::clear(), vpMatrix::detByLU(), vpMatrix::detByLUEigen3(), vpMatrix::detByLULapack(), vpMatrix::detByLUOpenCV(), vpMatrix::diag(), vpMatrix::eigenValues(), vpMatrix::eigenValues(), vpMatrix::expm(), vpColVector::extract(), vpMatrix::eye(), vpMatrix::getCol(), vpMatrix::getDiag(), vpMatrix::getRow(), vpColVector::hadamard(), vpMatrix::hadamard(), vpColVector::infinityNorm(), vpMatrix::infinityNorm(), vpSubColVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), vpMatrix::insert(), vpMatrix::inverseByCholeskyLapack(), vpMatrix::inverseByCholeskyOpenCV(), vpMatrix::inverseByLU(), vpMatrix::inverseByLUEigen3(), vpMatrix::inverseByLULapack(), vpMatrix::inverseByLUOpenCV(), vpMatrix::inverseByQRLapack(), vpMatrix::inverseTriangular(), vpColVector::operator*(), vpColVector::operator*(), vpColVector::operator*(), vpHomogeneousMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*(), vpRotationMatrix::operator*(), vpTranslationVector::operator*(), vpColVector::operator*=(), vpMatrix::operator*=(), vpRotationMatrix::operator*=(), vpTranslationVector::operator*=(), vpColVector::operator+(), vpColVector::operator+=(), vpMatrix::operator+=(), vpMatrix::operator+=(), vpColVector::operator,(), vpColVector::operator-(), vpColVector::operator-(), vpColVector::operator-=(), vpMatrix::operator-=(), vpMatrix::operator-=(), vpColVector::operator/(), vpMatrix::operator/(), vpColVector::operator/=(), vpMatrix::operator/=(), vpTranslationVector::operator/=(), vpColVector::operator<<(), vpMatrix::operator<<(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpColVector::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpRowVector::operator=(), vpRowVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubColVector::operator=(), vpSubMatrix::operator=(), vpSubMatrix::operator=(), vpSubMatrix::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), vpSubRowVector::operator=(), vpTranslationVector::operator=(), vpTranslationVector::operator=(), operator==(), operator==(), vpColVector::operator==(), vpColVector::operator==(), vpRowVector::operator==(), vpMatrix::qr(), vpMatrix::qrPivot(), vpColVector::reshape(), vpMatrix::setIdentity(), vpColVector::stack(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stackColumns(), vpMatrix::stackColumns(), vpMatrix::stackRows(), vpMatrix::stackRows(), vpColVector::sum(), vpMatrix::sum(), vpColVector::sumSquare(), vpMatrix::sumSquare(), vpRotationVector::sumSquare(), vpTranslationVector::sumSquare(), vpMatrix::svdLapack(), vpColVector::t(), vpPoseVector::t(), vpTranslationVector::t(), vpMatrix::transpose(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().

◆ rowPtrs

double** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 138 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpColVector::clear(), vpMatrix::clear(), vpRowVector::clear(), vpMatrix::infinityNorm(), vpColVector::init(), vpMatrix::init(), vpRowVector::init(), vpSubColVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), vpForceTwistMatrix::operator*(), vpForceTwistMatrix::operator*(), vpForceTwistMatrix::operator*(), vpHomogeneousMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpMatrix::operator*(), vpRotationMatrix::operator*(), vpRotationMatrix::operator*(), vpRotationMatrix::operator*(), vpRotationMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpVelocityTwistMatrix::operator*(), vpMatrix::operator*=(), vpRotationMatrix::operator*=(), vpMatrix::operator+=(), vpMatrix::operator+=(), vpMatrix::operator,(), vpMatrix::operator-=(), vpMatrix::operator-=(), vpMatrix::operator/(), vpMatrix::operator/=(), vpColVector::operator<<(), vpMatrix::operator<<(), vpMatrix::operator<<(), vpColVector::operator=(), vpForceTwistMatrix::operator=(), vpHomogeneousMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpRotationMatrix::operator=(), vpRowVector::operator=(), vpRowVector::operator=(), vpSubMatrix::operator=(), vpSubMatrix::operator=(), vpSubMatrix::operator=(), vpVelocityTwistMatrix::operator=(), vpMatrix::stack(), vpMatrix::stackColumns(), vpMatrix::sum(), vpRowVector::sum(), vpMatrix::sumSquare(), vpRotationVector::sumSquare(), vpRowVector::sumSquare(), vpTranslationVector::sumSquare(), vpColVector::vpColVector(), vpMatrix::vpMatrix(), and vpRowVector::vpRowVector().