Visual Servoing Platform version 3.7.0
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vpRotationMatrix Class Reference
core: Core module » Mathematics » Transformations

#include <vpRotationMatrix.h>

Inheritance diagram for vpRotationMatrix:

Public Member Functions

 vpRotationMatrix ()
 vpRotationMatrix (const vpRotationMatrix &R)
VP_EXPLICIT vpRotationMatrix (const vpHomogeneousMatrix &M)
VP_EXPLICIT vpRotationMatrix (const vpThetaUVector &r)
VP_EXPLICIT vpRotationMatrix (const vpPoseVector &p)
VP_EXPLICIT vpRotationMatrix (const vpRzyzVector &r)
VP_EXPLICIT vpRotationMatrix (const vpRxyzVector &r)
VP_EXPLICIT vpRotationMatrix (const vpRzyxVector &r)
VP_EXPLICIT vpRotationMatrix (const vpQuaternionVector &q)
VP_EXPLICIT vpRotationMatrix (const vpMatrix &R)
 vpRotationMatrix (double tux, double tuy, double tuz)
VP_EXPLICIT vpRotationMatrix (const std::initializer_list< double > &list)
vpRotationMatrix & buildFrom (const vpHomogeneousMatrix &M)
vpRotationMatrix & buildFrom (const vpThetaUVector &v)
vpRotationMatrix & buildFrom (const vpPoseVector &p)
vpRotationMatrix & buildFrom (const vpRzyzVector &v)
vpRotationMatrix & buildFrom (const vpRxyzVector &v)
vpRotationMatrix & buildFrom (const vpRzyxVector &v)
vpRotationMatrix & buildFrom (const vpQuaternionVector &q)
vpRotationMatrix & buildFrom (const double &tux, const double &tuy, const double &tuz)
void eye ()
vpColVector getCol (unsigned int j) const
vpThetaUVector getThetaUVector ()
vpRotationMatrix inverse () const
void inverse (vpRotationMatrix &R) const
bool isARotationMatrix (double threshold=1e-6) const
vpRotationMatrix & operator= (const vpRotationMatrix &R)
vpRotationMatrix & operator= (const vpMatrix &M)
vpRotationMatrix & operator= (const std::initializer_list< double > &list)
vpTranslationVector operator* (const vpTranslationVector &tv) const
vpRotationMatrix operator* (const vpRotationMatrix &R) const
vpHomogeneousMatrix operator* (const vpHomogeneousMatrix &M) const
vpMatrix operator* (const vpMatrix &M) const
vpColVector operator* (const vpColVector &v) const
vpRotationMatrix operator* (double x) const
vpRotationMatrix & operator*= (double x)
vpRotationMatrix & operator<< (double val)
vpRotationMatrix & operator, (double val)
void orthogonalize ()
void printVector ()
VP_NORETURN void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true)
vpRotationMatrix t () const
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
double * operator[] (unsigned int i)
vpArray2D< double > hadamard (const vpArray2D< double > &m) const

Static Public Member Functions

static vpRotationMatrix mean (const std::vector< vpHomogeneousMatrix > &vec_M)
static vpRotationMatrix mean (const std::vector< vpRotationMatrix > &vec_R)
static vpArray2D< double > view (const vpArray2D< double > &A)

Public Attributes

double * data

(Note that these are not member symbols.)

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

Deprecated functions

unsigned int m_index
VP_DEPRECATED void init ()
VP_DEPRECATED void setIdentity ()

Inherited I/O from vpArray2D with Static Public Member Functions

unsigned int rowNum
unsigned int colNum
double ** rowPtrs
unsigned int dsize
bool isMemoryOwner
bool isRowPtrsOwner
static bool load (const std::string &filename, vpArray2D< double > &A, bool binary=false, char *header=nullptr)
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=nullptr)
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)
static bool isFinite (const vpArray2D< double > &A)

Detailed Description

Implementation of a rotation matrix and operations on such kind of matrices.

The vpRotationMatrix considers the particular case of a rotation matrix.

The vpRotationMatrix class is derived from vpArray2D<double>.

The code below shows how to create a rotation matrix, set the element values and access them:

#include <visp3/core/vpRotationMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpRotationMatrix R;
R[0][0] = 0; R[0][1] = 0; R[0][2] = -1;
R[1][0] = 0; R[1][1] = -1; R[1][2] = 0;
R[2][0] = -1; R[2][1] = 0; R[2][2] = 0;
std::cout << "R:" << std::endl;
for (unsigned int i = 0; i < R.getRows(); ++i) {
for (unsigned int j = 0; j < R.getCols(); ++j) {
std::cout << R[i][j] << " ";
}
std::cout << std::endl;
}
}
VISP_NAMESPACE_NAME
Definition vpEigenConversion.h:44

Once build, this previous code produces the following output:

R:
0 0 -1
0 -1 0
-1 0 0

You can also use operator<< to initialize a rotation matrix as previously:

#include <visp3/core/vpRotationMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpRotationMatrix R;
R << 0, 0, -1, 0, -1, 0, -1, 0, 0;
std::cout << "R:\n" << R << std::endl;
}

If ViSP is build with c++11 enabled, you can do the same using:

#include <visp3/code/vpRotationMatrix.h
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpRotationMatrix R{ 0, 0, -1, 0, -1, 0, -1, 0, 0 };
std::cout << "R:\n" << R << std::endl;
}
Examples
AROgreBasic.cpp, ClassUsingDisplayPCL.h, HelloWorldOgre.cpp, catchHomogeneousMatrix.cpp, catchPoseVector.cpp, catchRotation.cpp, exponentialMap.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, perfMatrixMultiplication.cpp, photometricMappingVisualServoing.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_cur_integrator.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoBebop2.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoPixhawkDroneIBVS.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testDisplacement.cpp, testDisplays.cpp, testImageDraw.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTwistMatrix.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseHapticBox.cpp, tutorial-draw-frame.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-pf.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, and tutorial-ukf.cpp.

Definition at line 129 of file vpRotationMatrix.h.

Constructor & Destructor Documentation

◆ vpRotationMatrix() [1/12]

vpRotationMatrix::vpRotationMatrix ( )

Default constructor that initialise a 3-by-3 rotation matrix to identity.

Definition at line 513 of file vpRotationMatrix.cpp.

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

Referenced by buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), buildFrom(), inverse(), inverse(), isARotationMatrix(), mean(), mean(), operator*(), operator*(), operator*=(), operator,(), operator<<(), operator=(), operator=(), operator=(), t(), and vpRotationMatrix().

◆ vpRotationMatrix() [2/12]

vpRotationMatrix::vpRotationMatrix ( const vpRotationMatrix & M)

Copy constructor that construct a 3-by-3 rotation matrix from another rotation matrix.

Definition at line 519 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [3/12]

vpRotationMatrix::vpRotationMatrix ( const vpHomogeneousMatrix & M)

Construct a 3-by-3 rotation matrix from an homogeneous matrix.

Definition at line 524 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [4/12]

vpRotationMatrix::vpRotationMatrix ( const vpThetaUVector & tu)

Construct a 3-by-3 rotation matrix from $ \theta {\bf u}$ angle representation.

Definition at line 530 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [5/12]

vpRotationMatrix::vpRotationMatrix ( const vpPoseVector & p)

Construct a 3-by-3 rotation matrix from a pose vector.

Definition at line 535 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [6/12]

vpRotationMatrix::vpRotationMatrix ( const vpRzyzVector & euler)

Construct a 3-by-3 rotation matrix from $ R(z,y,z) $ Euler angle representation.

Definition at line 541 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [7/12]

vpRotationMatrix::vpRotationMatrix ( const vpRxyzVector & Rxyz)

Construct a 3-by-3 rotation matrix from $ R(x,y,z) $ Euler angle representation.

Definition at line 550 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [8/12]

vpRotationMatrix::vpRotationMatrix ( const vpRzyxVector & Rzyx)

Construct a 3-by-3 rotation matrix from $ R(z,y,x) $ Euler angle representation.

Definition at line 556 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [9/12]

vpRotationMatrix::vpRotationMatrix ( const vpQuaternionVector & q)

Construct a 3-by-3 rotation matrix from quaternion angle representation.

Definition at line 575 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [10/12]

vpRotationMatrix::vpRotationMatrix ( const vpMatrix & R)

Construct a 3-by-3 rotation matrix from a matrix that contains values corresponding to a rotation matrix.

Definition at line 561 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [11/12]

vpRotationMatrix::vpRotationMatrix ( double tux,
double tuy,
double tuz )

Construct a 3-by-3 rotation matrix from $ \theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ angle representation.

Definition at line 567 of file vpRotationMatrix.cpp.

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

◆ vpRotationMatrix() [12/12]

vpRotationMatrix::vpRotationMatrix ( const std::initializer_list< double > & list)

Construct a rotation matrix from a list of 9 double values.

Parameters
list: List of double. The following code shows how to use this constructor to initialize a rotation matrix:
#include <visp3/core/vpRotationMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpRotationMatrix R{ 0, 0, -1, 0, -1, 0, -1, 0, 0 };
std::cout << "R:\n" << R << std::endl;
}
It produces the following output:
R:
0 0 -1
0 -1 0
-1 0 0

Definition at line 603 of file vpRotationMatrix.cpp.

References vpException::fatalError, isARotationMatrix(), m_index, orthogonalize(), and vpArray2D< double >::vpArray2D().

Member Function Documentation

◆ buildFrom() [1/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const double & tux,
const double & tuy,
const double & tuz )

Construct a 3-by-3 rotation matrix from $ \theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ angle representation.

Definition at line 868 of file vpRotationMatrix.cpp.

References buildFrom(), and vpRotationMatrix().

◆ buildFrom() [2/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpHomogeneousMatrix & M)

Build a rotation matrix from an homogeneous matrix.

Definition at line 737 of file vpRotationMatrix.cpp.

References vpRotationMatrix().

Referenced by buildFrom(), buildFrom(), vpExponentialMap::direct(), vpRotationMatrix(), vpRotationMatrix(), vpRotationMatrix(), vpRotationMatrix(), vpRotationMatrix(), vpRotationMatrix(), vpRotationMatrix(), and vpRotationMatrix().

◆ buildFrom() [3/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpPoseVector & p)

Build a rotation matrix from a pose vector.

See also
buildFrom(const vpThetaUVector &)

Definition at line 754 of file vpRotationMatrix.cpp.

References buildFrom(), and vpRotationMatrix().

◆ buildFrom() [4/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpQuaternionVector & q)

Construct a 3-by-3 rotation matrix from a quaternion representation.

Definition at line 878 of file vpRotationMatrix.cpp.

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

◆ buildFrom() [5/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpRxyzVector & v)

Transform a vector representing the Rxyz angle into a rotation matrix. Rxyz( $ \phi,\theta, \psi $) = Rot( $ x, \psi $) Rot( $ y, \theta $ ) Rot( $ z,\phi $)

Definition at line 802 of file vpRotationMatrix.cpp.

References vpRotationMatrix().

◆ buildFrom() [6/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpRzyxVector & v)

Transform a vector representing the Rzyx angle into a rotation matrix. Rxyz( $ \phi, \theta , \psi $) = Rot( $ z, \psi $) Rot( $ y, \theta $)Rot( $ x, \phi $)

Definition at line 835 of file vpRotationMatrix.cpp.

References vpRotationMatrix().

◆ buildFrom() [7/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpRzyzVector & v)

Transform a vector representing the Euler angle into a rotation matrix. Rzyz( $ \phi, \theta , \psi $) = Rot( $ z,\phi $) Rot( $ y,\theta $) Rot( $ z,\psi $)

Definition at line 767 of file vpRotationMatrix.cpp.

References vpRotationMatrix().

◆ buildFrom() [8/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpThetaUVector & v)

Transform a $ \theta {\bf u}$ angle representation into a rotation matrix.

The rotation is computed using :

\‍[R = \cos{ \theta} \; {I}_{3} + (1 - \cos{ \theta}) \; u u^{T} + \sin{ \theta} \; [u]_\times \‍]

Definition at line 700 of file vpRotationMatrix.cpp.

References vpMath::mcosc(), vpMath::sinc(), and vpRotationMatrix().

◆ 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.

Definition at line 1142 of file vpArray2D.h.

References vpArray2D().

◆ eye()

void vpRotationMatrix::eye ( )

Initialize the rotation matrix as identity.

See also
setIdentity()

Definition at line 59 of file vpRotationMatrix.cpp.

Referenced by setIdentity(), and vpRotationMatrix().

◆ getCol()

vpColVector vpRotationMatrix::getCol ( unsigned int j) const

Extract a column vector from a rotation matrix.

Warning
All the indexes start from 0 in this function.
Parameters
j: Index of the column to extract. If j=0, the first column is extracted.
Returns
The extracted column vector.

The following example shows how to use this function:

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRotationMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpRotationMatrix R;
vpColVector r = R.getCol(2);
std::cout << "Last column: \n" << r << std::endl;
}
vpColVector
Implementation of column vector and the associated operations.
Definition vpColVector.h:191

It produces the following output:

Last column:
0
0
1
Examples
testVirtuoseHapticBox.cpp.

Definition at line 943 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpArray2D< double >::getCols(), and vpArray2D< double >::getRows().

◆ getCols()

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

Return the number of columns of the 2D array.

See also
getRows(), size()
Examples
catchLuminanceMapping.cpp, catchMatrixCholesky.cpp, catchPoseVector.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 423 of file vpArray2D.h.

Referenced by vpMatrix::choleskyByEigen3(), vpMatrix::choleskyByLapack(), vpMatrix::choleskyByOpenCV(), 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 425 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue ( ) const
inherited

Return the array min value.

Examples
servoMomentImage.cpp.

Definition at line 427 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
catchLuminanceMapping.cpp, catchMatrixCholesky.cpp, catchParticleFilter.cpp, catchPoseVector.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 433 of file vpArray2D.h.

Referenced by vpMatrix::choleskyByEigen3(), vpMatrix::choleskyByLapack(), vpMatrix::choleskyByOpenCV(), 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::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().

◆ getThetaUVector()

vpThetaUVector vpRotationMatrix::getThetaUVector ( )

Return the $\theta {\bf u}$ vector that corresponds to the rotation matrix.

Definition at line 905 of file vpRotationMatrix.cpp.

Referenced by vpRobotBebop2::setPosition().

◆ 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 732 of file vpArray2D.h.

References vpArray2D().

◆ init()

VP_DEPRECATED void vpRotationMatrix::init ( )
inline
Deprecated
Provided only for compat with previous releases. This function does nothing.

Definition at line 221 of file vpRotationMatrix.h.

◆ 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 586 of file vpArray2D.h.

◆ inverse() [1/2]

vpRotationMatrix vpRotationMatrix::inverse ( ) const

Return the rotation matrix inverse which is also the transpose of the rotation matrix.

See also
t()
Examples
servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, testVirtuoseAfma6.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 645 of file vpRotationMatrix.cpp.

References vpRotationMatrix().

Referenced by vpViper::get_eJe(), vpPointMap::getVisiblePoints(), and inverse().

◆ inverse() [2/2]

void vpRotationMatrix::inverse ( vpRotationMatrix & R) const

Inverse the rotation matrix.

Parameters
R(output): Inverted rotation matrix.
#include <visp3/core/vpRotationMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpRotationMatrix R, Rinv;
// ... Update rotation matrix R
// Compute the inverse in Rinv
R.inverse(Rinv);
}

Definition at line 673 of file vpRotationMatrix.cpp.

References inverse(), and vpRotationMatrix().

◆ isARotationMatrix()

bool vpRotationMatrix::isARotationMatrix ( double threshold = 1e-6) const

Test if the rotation matrix is really a rotation matrix.

Returns
true if the matrix is a rotation matrix, false otherwise.

Definition at line 465 of file vpRotationMatrix.cpp.

References vpArray2D< double >::getCols(), vpArray2D< double >::getRows(), vpMath::sqr(), and vpRotationMatrix().

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

◆ isFinite()

bool vpArray2D< double >::isFinite ( const vpArray2D< double > & A)
inlinestaticinherited

Definition at line 1188 of file vpArray2D.h.

◆ load()

bool vpArray2D< double >::load ( const std::string & filename,
vpArray2D< double > & A,
bool binary = false,
char * header = nullptr )
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 760 of file vpArray2D.h.

◆ loadYAML()

bool vpArray2D< double >::loadYAML ( const std::string & filename,
vpArray2D< double > & A,
char * header = nullptr )
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-EyeToHand-Lcur_cVe_eJe.cpp, servoFrankaIBVS-EyeToHand-Lcur_cVf_fVe_eJe.cpp, servoFrankaIBVS-EyeToHand-Ldes_cVf_fVe_eJe.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, tutorial-hsv-segmentation.cpp, visp-compute-eye-in-hand-calibration.cpp, and visp-compute-eye-to-hand-calibration.cpp.

Definition at line 874 of file vpArray2D.h.

◆ mean() [1/2]

vpRotationMatrix vpRotationMatrix::mean ( const std::vector< vpHomogeneousMatrix > & vec_M)
static

Compute the Euclidean mean of the rotation matrices extracted from a vector of homogeneous matrices following Moakher's method (SIAM 2002).

Parameters
[in]vec_M: Set of homogeneous matrices.
Returns
The Euclidean mean of the rotation matrices.
See also
vpTranslationVector::mean()

Definition at line 965 of file vpRotationMatrix.cpp.

References vpMatrix::pseudoInverse(), vpMatrix::t(), and vpRotationMatrix().

◆ mean() [2/2]

vpRotationMatrix vpRotationMatrix::mean ( const std::vector< vpRotationMatrix > & vec_R)
static

Compute the Euclidean mean of the rotation matrices following Moakher's method (SIAM 2002).

Parameters
[in]vec_R: Set of rotation matrices.
Returns
The Euclidean mean of the rotation matrices.
See also
vpTranslationVector::mean()

Definition at line 1008 of file vpRotationMatrix.cpp.

References vpMatrix::pseudoInverse(), vpMatrix::t(), and vpRotationMatrix().

◆ operator!=()

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

Not equal to comparison operator of a 2D array.

Definition at line 612 of file vpArray2D.h.

References vpArray2D().

◆ operator*() [1/6]

vpColVector vpRotationMatrix::operator* ( const vpColVector & v) const

Operator that allows to multiply a rotation matrix by a 3 dimension column vector.

Parameters
v: Three dimension column vector.
Returns
The product of the rotation matrix by the column vector
Exceptions
vpException::dimensionErrorIf the column vector v is not a 3 dimension vector.

The code below shows how to use this operator.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRotationMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpColVector p1(3), p2(3);
vpRotationMatrix R;
p2 = R * p1;
return 0;
}

Definition at line 382 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpException::dimensionError, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

◆ operator*() [2/6]

vpHomogeneousMatrix vpRotationMatrix::operator* ( const vpHomogeneousMatrix & M) const

Operator that allows to multiply a rotation matrix by a homogeneous matrix.

Parameters
[in]M: Homogeneous matrix.
Returns
The product between the rotation matrix and the homogeneous matrix M.

The following snippet shows how to use this method:

vpRotationMatrix c1_R_c2;
vpHomogeneousMatrix c2_M_c3;
vpHomogeneousMatrix c1_M_c3 = c1_R_c2 * c2_M_c3;
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition vpHomogeneousMatrix.h:221

Definition at line 344 of file vpRotationMatrix.cpp.

References vpHomogeneousMatrix::getRotationMatrix(), and vpHomogeneousMatrix::getTranslationVector().

◆ operator*() [3/6]

vpMatrix vpRotationMatrix::operator* ( const vpMatrix & M) const

Operator that allows to multiply a rotation matrix by a 3-by-3 matrix. Allows for example to multiply a rotation matrix by a skew matrix.

Parameters
[in]M: 3-by-3 matrix.
Returns
The product between the rotation matrix and the 3-by-3 matrix M.
Exceptions
vpException::dimensionError: If M is not a 3-by-3 dimension matrix.

The following snippet shows how to use this method:

vpRotationMatrix R;
vpTranslationVector t;
vpMatrix M = t.skew();
vpMatrix RM = R * M;
vpMatrix
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:175
vpRotationMatrix::t
vpRotationMatrix t() const
Definition vpRotationMatrix.cpp:625
vpTranslationVector
Class that consider the case of a translation vector.
Definition vpTranslationVector.h:119

Definition at line 309 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

◆ operator*() [4/6]

vpRotationMatrix vpRotationMatrix::operator* ( const vpRotationMatrix & R) const

Compute the product between two rotation matrices.

Definition at line 275 of file vpRotationMatrix.cpp.

References vpArray2D< double >::rowPtrs, and vpRotationMatrix().

◆ operator*() [5/6]

vpTranslationVector vpRotationMatrix::operator* ( const vpTranslationVector & tv) const

Multiply a rotation matrix by a translation vector and return the resulting translation vector.

Definition at line 407 of file vpRotationMatrix.cpp.

References vpArray2D< double >::rowPtrs.

◆ operator*() [6/6]

vpRotationMatrix vpRotationMatrix::operator* ( double x) const

Operator that allows to multiply all the elements of a rotation matrix by a scalar.

Definition at line 429 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::rowNum, vpArray2D< double >::rowPtrs, and vpRotationMatrix().

◆ operator*=()

vpRotationMatrix & vpRotationMatrix::operator*= ( double x)

Operator that allows to multiply all the elements of a rotation matrix by a scalar.

Definition at line 446 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::rowNum, vpArray2D< double >::rowPtrs, and vpRotationMatrix().

◆ operator,()

vpRotationMatrix & vpRotationMatrix::operator, ( double val)

Set the second and next element of the rotation matrix.

Parameters
val: Value of the matrix second or next element.
Returns
An updated matrix.

The following example shows how to initialize a rotation matrix using this operator.

#include <visp3/core/vpRotationMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpRotationMatrix R;
R << 0, 0, -1, 0, -1, 0, -1, 0, 0;
std::cout << "R:\n" << R << std::endl;
}

It produces the following printings:

R:
0 0 -1
0 -1 0
-1 0 0
See also
operator<<()

Definition at line 259 of file vpRotationMatrix.cpp.

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

◆ operator<<()

vpRotationMatrix & vpRotationMatrix::operator<< ( double val)

Set rotation matrix first element.

Parameters
val: Value of the matrix first element.
Returns
An updated matrix.

The following example shows how to initialize a rotation matrix using this operator.

#include <visp3/core/vpRotationMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpRotationMatrix R;
R << 0, 0, -1, 0, -1, 0, -1, 0, 0;
std::cout << "R:\n" << R << std::endl;
}

It produces the following printings:

R:
0 0 -1
0 -1 0
-1 0 0
See also
operator,()

Definition at line 221 of file vpRotationMatrix.cpp.

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

◆ operator=() [1/3]

vpRotationMatrix & vpRotationMatrix::operator= ( const std::initializer_list< double > & list)

Set a rotation matrix from a list of 9 double values.

Parameters
list: List of double. The following code shows how to use this constructor to initialize a rotation matrix:
#include <visp3/core/vpRotationMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpRotationMatrix R
R = { 0, 0, -1, 0, -1, 0, -1, 0, 0 };
std::cout << "R:\n" << R << std::endl;
}
It produces the following output:
R:
0 0 -1
0 -1 0
-1 0 0
See also
operator<<()

Definition at line 123 of file vpRotationMatrix.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< double >::dsize, vpException::fatalError, isARotationMatrix(), orthogonalize(), and vpRotationMatrix().

◆ operator=() [2/3]

vpRotationMatrix & vpRotationMatrix::operator= ( const vpMatrix & M)

Converts a 3-by-3 matrix into a rotation matrix.

Parameters
M: Input matrix.
vpMatrix M(3, 3);
M.eye()
vpRotationMatrix R = M;
Exceptions
vpException::fatalErrorIf the input matrix is not a rotation matrix.
See also
isARotationMatrix()

Definition at line 163 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpException::fatalError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), isARotationMatrix(), orthogonalize(), and vpRotationMatrix().

◆ operator=() [3/3]

vpRotationMatrix & vpRotationMatrix::operator= ( const vpRotationMatrix & R)

Set the current rotation matrix from a rotation matrix R.

Parameters
R: Rotation matrix.
vpRotationMatrix R1(vpMath::rad(10, vpMath::rad(20), vpMath::rad(30));
vpRotationMatrix R2 = R1;
vpMath::rad
static double rad(double deg)
Definition vpMath.h:129

Definition at line 83 of file vpRotationMatrix.cpp.

References vpArray2D< double >::rowPtrs, and vpRotationMatrix().

◆ operator[]()

double * vpArray2D< double >::operator[] ( unsigned int i)
inlineinherited

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 696 of file vpArray2D.h.

◆ orthogonalize()

void vpRotationMatrix::orthogonalize ( )

Perform rotation matrix orthogonalization.

Definition at line 1045 of file vpRotationMatrix.cpp.

References vpArray2D< double >::data, vpMatrix::svd(), and vpMatrix::t().

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

◆ printVector()

void vpRotationMatrix::printVector ( )

Print to std::cout the rotation matrix as a $ \theta {\bf u} $ angle representation vector.

Definition at line 679 of file vpRotationMatrix.cpp.

◆ reshape()

void vpArray2D< double >::reshape ( unsigned int nrows,
unsigned int ncols )
inlineinherited
Examples
testMatrixInitialization.cpp.

Definition at line 545 of file vpArray2D.h.

◆ resize() [1/2]

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
catchParticleFilter.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 448 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::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::stack(), vpMatrix::svdEigen3(), and vpMatrix::svdOpenCV().

◆ resize() [2/2]

VP_NORETURN void vpRotationMatrix::resize ( unsigned int nrows,
unsigned int ncols,
bool flagNullify = true )
inline

This function is not applicable to a rotation matrix that is always a 3-by-3 matrix.

Exceptions
vpException::fatalErrorWhen this function is called.

Definition at line 198 of file vpRotationMatrix.h.

References vpException::fatalError.

◆ 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 965 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:1061

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
visp-acquire-franka-calib-data.cpp, and visp-acquire-universal-robots-calib-data.cpp.

Definition at line 1061 of file vpArray2D.h.

◆ setIdentity()

void vpRotationMatrix::setIdentity ( )
Deprecated
You should rather use eye().
Deprecated
You should rather use eye().

Initializes the rotation matrix as identity.

See also
eye()

Definition at line 1092 of file vpRotationMatrix.cpp.

References eye().

◆ size()

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

Return the number of elements of the 2D array.

Examples
catchLuminanceMapping.cpp, catchParticleFilter.cpp, catchPoseVector.cpp, catchRotation.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testTukeyEstimator.cpp, testUniversalRobotsGetData.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-pf.cpp, tutorial-ukf.cpp, ukf-nonlinear-complex-example.cpp, and ukf-nonlinear-example.cpp.

Definition at line 435 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=(), vpForceTwistMatrix::print(), vpMatrix::print(), vpVelocityTwistMatrix::print(), 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().

◆ t()

vpRotationMatrix vpRotationMatrix::t ( ) const

Return the rotation matrix transpose which is also the inverse of the rotation matrix.

See also
inverse()

Definition at line 625 of file vpRotationMatrix.cpp.

References vpRotationMatrix().

Referenced by vpPointMap::getVisiblePoints(), and vpSimulatorAfma6::setPosition().

◆ view()

vpArray2D< double > vpArray2D< double >::view ( const vpArray2D< double > & A)
inlinestaticinherited

Creates a view of the Matrix A. A view shares the same underlying memory as the original array. It can be written into, modifying the original data. However, the array cannot be resized.

When you use this method, it is your responsibility to ensure that the lifespan of the view does not exceed the lifespan of the original array.

Parameters
Athe array to view
Returns
vpArray2D<T>

Definition at line 324 of file vpArray2D.h.

◆ operator==() [1/2]

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

Definition at line 1420 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 1439 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:414

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 414 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 53 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 1203 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpMatrix::choleskyByLapack(), vpMatrix::choleskyByOpenCV(), vpColVector::clear(), vpMatrix::clear(), vpRowVector::clear(), vpMatrix::dampedInverse(), 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(), vpRowVector::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<<(), vpMatrix::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(), 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::svdEigen3(), vpMatrix::svdLapack(), vpRowVector::t(), and vpMatrix::transpose().

◆ data

double* vpArray2D< double >::data
inherited

Address of the first element of the data array.

Examples
catchQuaternion.cpp, catchRotation.cpp, perfMatrixMultiplication.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testUniversalRobotsGetData.cpp, and tutorial-bridge-opencv-matrix.cpp.

Definition at line 149 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(), vpRowVector::hadamard(), vpSubColVector::init(), vpSubMatrix::init(), vpSubRowVector::init(), 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=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::operator=(), vpMatrix::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=(), 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(), vpMatrix::qr(), 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::view(), vpMatrix::view(), vpColVector::vpColVector(), vpHomogeneousMatrix::vpHomogeneousMatrix(), 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 1207 of file vpArray2D.h.

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

◆ isMemoryOwner

bool vpArray2D< double >::isMemoryOwner
protectedinherited

Whether this array owns the memory it points to.

Definition at line 1209 of file vpArray2D.h.

Referenced by vpColVector::clear(), and vpRowVector::clear().

◆ isRowPtrsOwner

bool vpArray2D< double >::isRowPtrsOwner
protectedinherited

Whether this array owns the row pointers.

Definition at line 1211 of file vpArray2D.h.

◆ m_index

unsigned int vpRotationMatrix::m_index
protected

Definition at line 230 of file vpRotationMatrix.h.

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

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 1201 of file vpArray2D.h.

Referenced by vpMatrix::AAt(), vpMatrix::AtA(), vpMatrix::choleskyByLapack(), vpMatrix::choleskyByOpenCV(), 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(), vpRowVector::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*(), 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+=(), vpColVector::operator+=(), vpMatrix::operator+=(), vpMatrix::operator+=(), vpColVector::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=(), vpMatrix::operator=(), vpMatrix::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(), 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::svdEigen3(), vpMatrix::svdLapack(), vpColVector::t(), vpPoseVector::t(), vpTranslationVector::t(), and vpMatrix::transpose().

◆ rowPtrs

double** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 1205 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*(), 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<<(), vpForceTwistMatrix::operator=(), vpHomogeneousMatrix::operator=(), vpMatrix::operator=(), vpRotationMatrix::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(), and vpTranslationVector::sumSquare().