#include <vpRotationVector.h>

Inheritance diagram for vpRotationVector:

Public Member Functions
	vpRotationVector ()
VP_EXPLICIT	vpRotationVector (unsigned int n)
	vpRotationVector (const vpRotationVector &v)
Inherited functionalities from vpArray2D
unsigned int	getCols () const
double	getMaxValue () const
double	getMinValue () const
unsigned int	getRows () const
unsigned int	size () const
void	resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
void	reshape (unsigned int nrows, unsigned int ncols)
void	insert (const vpArray2D< double > &A, unsigned int r, unsigned int c)
bool	operator!= (const vpArray2D< double > &A) const
vpArray2D< double >	hadamard (const vpArray2D< double > &m) const

Static Public Member Functions
static vpArray2D< double >	view (const vpArray2D< double > &A)

Public Attributes
double *	data

Related Symbols
(Note that these are not member symbols.)
vpColVector	operator* (const double &x, const vpRotationVector &v)
bool	operator== (const vpArray2D< double > &A) const
bool	operator== (const vpArray2D< float > &A) const
void	vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)
enum	vpGEMMmethod

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

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 generic rotation vector.

Class that consider the case of a generic rotation vector (cannot be used as is !) consisting in three or four angles.

The vpRotationVector class is derived from vpArray2D<double>. The vpRotationVector class is also the base class of specific rotations vectors such as vpThetaUVector, vpRxyzVector, vpRzyxVector, vpRzyzVector and vpQuaternionVector.

The code below shows how this class can be used to manipulate a vpRxyzVector.

#include <iostream>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRxyzVector.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRxyzVector r;         // By default initialized to zero
  // Rotation around x set to 45 degres converted in radians
  r[0] = vpMath::rad(45);
  // Rotation around y set to PI radians
  r[1] = M_PI;
  // Rotation around z set to 0 radians
  r[2] = 0;
 
  std::cout << "Rxyz rotation vector: " << r << std::endl;
 
  double rx = r[0];       // Get the value of the angle around x axis
  double ry = r[1];       // Get the value of the angle around y axis
  double rz = r[2];       // Get the value of the angle around z axis
}

Examples: catchRotation.cpp, and testMatrixInitialization.cpp.

Definition at line 102 of file vpRotationVector.h.

Constructor & Destructor Documentation

◆ vpRotationVector() [1/3]

vpRotationVector::vpRotationVector ( )

inline

Constructor that constructs a 0-size rotation vector.

Definition at line 106 of file vpRotationVector.h.

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

Referenced by operator*(), operator,(), operator<<(), operator=(), vpQuaternionVector::vpQuaternionVector(), vpQuaternionVector::vpQuaternionVector(), vpQuaternionVector::vpQuaternionVector(), vpQuaternionVector::vpQuaternionVector(), vpQuaternionVector::vpQuaternionVector(), vpQuaternionVector::vpQuaternionVector(), vpRotationVector(), vpRxyzVector::vpRxyzVector(), vpRxyzVector::vpRxyzVector(), vpRxyzVector::vpRxyzVector(), vpRxyzVector::vpRxyzVector(), vpRxyzVector::vpRxyzVector(), vpRxyzVector::vpRxyzVector(), vpRzyxVector::vpRzyxVector(), vpRzyxVector::vpRzyxVector(), vpRzyxVector::vpRzyxVector(), vpRzyxVector::vpRzyxVector(), vpRzyxVector::vpRzyxVector(), vpRzyxVector::vpRzyxVector(), vpRzyzVector::vpRzyzVector(), vpRzyzVector::vpRzyzVector(), vpRzyzVector::vpRzyzVector(), vpRzyzVector::vpRzyzVector(), vpRzyzVector::vpRzyzVector(), vpRzyzVector::vpRzyzVector(), vpThetaUVector::vpThetaUVector(), vpThetaUVector::vpThetaUVector(), vpThetaUVector::vpThetaUVector(), vpThetaUVector::vpThetaUVector(), vpThetaUVector::vpThetaUVector(), vpThetaUVector::vpThetaUVector(), vpThetaUVector::vpThetaUVector(), vpThetaUVector::vpThetaUVector(), vpThetaUVector::vpThetaUVector(), vpThetaUVector::vpThetaUVector(), and vpThetaUVector::vpThetaUVector().

◆ vpRotationVector() [2/3]

VP_EXPLICIT vpRotationVector::vpRotationVector ( unsigned int n )

inline

Constructor that constructs a vector of size n and initialize all values to zero.

Definition at line 110 of file vpRotationVector.h.

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

◆ vpRotationVector() [3/3]

vpRotationVector::vpRotationVector ( const vpRotationVector & v )

inline

Copy operator.

Definition at line 115 of file vpRotationVector.h.

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

Member Function Documentation

◆ 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().

◆ 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.

◆ 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().

◆ 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.

◆ 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.

◆ 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*()

vpColVector vpRotationVector::operator* ( double x ) const

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 88 of file vpRotationVector.cpp.

References vpArray2D< double >::dsize.

◆ operator,()

vpRotationVector & vpRotationVector::operator, ( double val )

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>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpThetaUVector tu;
  tu << 0, M_PI_2, M_PI;
  std::cout << "tu: " << tu.t() << std::endl;
}

It produces the following printings:

tu: 0 1.570796327 3.141592654

See also: operator<<()

Definition at line 159 of file vpRotationVector.cpp.

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

◆ operator<<()

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

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>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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 125 of file vpRotationVector.cpp.

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

◆ operator=()

vpRotationVector & vpRotationVector::operator= ( const vpRotationVector & v )

inline

Affectation of two vectors.

Definition at line 134 of file vpRotationVector.h.

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

◆ operator[]() [1/2]

double & vpRotationVector::operator[] ( unsigned int i )

inline

Operator that allows to set the value of an element of the rotation vector: r[i] = value

Definition at line 124 of file vpRotationVector.h.

References vpArray2D< double >::data.

◆ operator[]() [2/2]

const double & vpRotationVector::operator[] ( unsigned int i ) const

inline

Operator that allows to get the value of an element of the rotation vector: value = r[i]

Definition at line 129 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 545 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: 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().

◆ 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");

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.

◆ 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().

◆ sumSquare()

double vpRotationVector::sumSquare ( ) const

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()

BEGIN_VISP_NAMESPACE vpRowVector vpRotationVector::t ( ) const

Return the transpose of the rotation vector.

Examples: catchEigenConversion.cpp, testMatrixInitialization.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 52 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

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().

◆ 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

A	the array to view

Returns: vpArray2D<T>

Definition at line 324 of file vpArray2D.h.

◆ operator*()

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

Allows to multiply a scalar by rotaion vector.

Definition at line 194 of file vpRotationVector.cpp.

References vpRotationVector().

◆ operator==() [1/2]

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

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

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 )

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::incorrectMatrixSizeError if the sizes of the matrices do not allow the operations.

Parameters

A	: An array that could be a vpMatrix.
B	: An array that could be a vpMatrix.
alpha	: A scalar.
C	: An array that could be a vpMatrix.
beta	: A scalar.
D	: The resulting array that could be a vpMatrix.
ops	: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 414 of file vpGEMM.h.

References vpException::functionNotImplementedError, and vpArray2D().

◆ vpGEMMmethod

enum vpGEMMmethod

Enumeration of the operations applied on matrices in vpGEMM() function.

Operations are :

VP_GEMM_A_T to use the transpose matrix of A instead of the matrix A
VP_GEMM_B_T to use the transpose matrix of B instead of the matrix B
VP_GEMM_C_T to use the transpose matrix of C instead of the matrix C

Definition at line 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.

◆ 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.

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

Current array size (rowNum * colNum).

Definition at line 1207 of file vpArray2D.h.

◆ 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 vpRotationVector::m_index

protected

Definition at line 159 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 1201 of file vpArray2D.h.

◆ rowPtrs

double** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 1205 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Related Symbols

Inherited functionalities from vpRotationVector

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpRotationVector() [1/3]

◆ vpRotationVector() [2/3]

◆ vpRotationVector() [3/3]

Member Function Documentation

◆ conv2()

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ hadamard()

◆ insert()

◆ isFinite()

◆ load()

◆ loadYAML()

◆ operator!=()

◆ operator*()

◆ operator,()

◆ operator<<()

◆ operator=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reshape()

◆ resize()

◆ save()

◆ saveYAML()

◆ size()

◆ sumSquare()

◆ t()

◆ toStdVector()

◆ view()

Friends And Related Symbol Documentation

◆ operator*()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ vpGEMM()

◆ vpGEMMmethod

Member Data Documentation

◆ colNum

◆ data

◆ dsize

◆ isMemoryOwner

◆ isRowPtrsOwner

◆ m_index

◆ rowNum

◆ rowPtrs