/usr/include/x86_64-linux-gnu/visp3/core/vpTranslationVector.h

/****************************************************************************
 *
 * 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
libvisp-core-dev 3.0.0-4 / usr / include / x86_64-linux-gnu / visp3 / core / vpTranslationVector.h
