/usr/include/x86_64-linux-gnu/visp3/core/vpTranslationVector.h is in libvisp-core-dev 3.0.0-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 | /****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Translation vector.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#ifndef vpTRANSLATIONVECTOR_H
#define vpTRANSLATIONVECTOR_H
/*!
\file vpTranslationVector.h
\brief Class that consider the case of a translation vector.
*/
#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpPoseVector.h>
/*!
\class vpTranslationVector
\ingroup group_core_transformations
\brief Class that consider the case of a translation vector.
Let us denote \f$^{a}{\bf t}_{b} = [t_x,t_y,t_z]^\top\f$ the translation
from frame \f$ a \f$ to frame \f$ b \f$. The representation of a
translation is a column vector of dimension 3.
Translations are expressed in meters.
The code below shows how to use a translation vector to build an
homogeneous matrix.
\code
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpTranslationVector.h>
int main()
{
vpTranslationVector t; // Translation vector
// Initialization of the translation vector
t[0] = 0.2; // tx = 0.2 meters
t[1] = -0.1; // ty = -0.1 meters
t[2] = 1.0; // tz = 1 meters
// Construction of a rotation matrix
vpRotationMatrix R; // Set to identity by default
// Construction of an homogeneous matrix
vpHomogeneousMatrix M(t, R);
}
\endcode
*/
class VISP_EXPORT vpTranslationVector : public vpArray2D<double>
{
public:
/*!
Default constructor.
The translation vector is initialized to zero.
*/
vpTranslationVector() : vpArray2D<double>(3, 1) {};
vpTranslationVector(const double tx, const double ty, const double tz) ;
vpTranslationVector(const vpTranslationVector &tv);
vpTranslationVector(const vpHomogeneousMatrix &M);
vpTranslationVector(const vpPoseVector &p);
vpTranslationVector buildFrom(const double tx, const double ty, const double tz) ;
vpTranslationVector buildFrom(const vpHomogeneousMatrix& M) ;
vpTranslationVector buildFrom(const vpPoseVector& p) ;
double euclideanNorm() const;
// operators
// translation vectors additions c = a + b (a, b unchanged)
vpTranslationVector operator+(const vpTranslationVector &tv) const ;
// translation vectors substraction c = a - b (a, b unchanged)
vpTranslationVector operator-(const vpTranslationVector &tv) const ;
// negate t = -a (t is unchanged)
vpTranslationVector operator-() const ;
vpMatrix operator*(const vpRowVector &v) const;
// b = x * a (x=scalar)
vpTranslationVector operator*(const double x) const;
vpTranslationVector & operator*=(double x);
vpTranslationVector operator/(const double x) const;
vpTranslationVector & operator/=(double x);
// Copy operator. Allow operation such as A = v
vpTranslationVector &operator=(const vpTranslationVector &tv);
vpTranslationVector &operator=(double x) ;
//! Operator that allows to set a value of an element \f$t_i\f$: t[i] = x
inline double &operator [](unsigned int n) { return *(data + n); }
//! Operator that allows to get the value of an element \f$t_i\f$: x = t[i]
inline const double &operator [](unsigned int n) const { return *(data+n); }
/*!
This function is not applicable to a translation vector that is always a
3-by-1 column vector.
\exception vpException::fatalError When this function is called.
*/
void resize(const unsigned int nrows, const unsigned int ncols,
const bool flagNullify = true)
{
(void)nrows;
(void)ncols;
(void)flagNullify;
throw(vpException(vpException::fatalError, "Cannot resize a translation vector"));
};
void set(const double tx, const double ty, const double tz) ;
// Skew Symmetric matrix
vpMatrix skew() const ;
double sumSquare() const;
vpRowVector t() const;
static vpTranslationVector cross(const vpTranslationVector &a,
const vpTranslationVector &b) ;
static vpMatrix skew(const vpTranslationVector &tv) ;
static void skew(const vpTranslationVector &tv, vpMatrix &M) ;
} ;
#endif
|