vpRotationVector.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://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:
 * Generic rotation vector (cannot be used as is !).
 */

 
#include <algorithm>
#include <math.h>
 
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpRowVector.h>
 
BEGIN_VISP_NAMESPACE
vpRowVector vpRotationVector::t() const
{
  vpRowVector v(dsize);
 
  for (unsigned int i = 0; i < dsize; ++i) {
    v[i] = data[i];
  }
 
  return v;
}

std::vector<double> vpRotationVector::toStdVector() const
{
  std::vector<double> v(this->size());
 
  unsigned int this_size = this->size();
  for (unsigned int i = 0; i < this_size; ++i) {
    v[i] = data[i];
  }
  return v;
}

vpColVector vpRotationVector::operator*(double x) const
{
  vpColVector v(dsize);
 
  for (unsigned int i = 0; i < dsize; ++i) {
    v[i] = (*this)[i] * x;
  }
  return v;
}

vpRotationVector &vpRotationVector::operator<<(double val)
{
  m_index = 0;
  data[m_index] = val;
  return *this;
}

vpRotationVector &vpRotationVector::operator,(double val)
{
  ++m_index;
  if (m_index >= size()) {
    throw(vpException(vpException::dimensionError,
                      "Cannot set rotation vector out of bounds. It has only %d elements while you try to initialize "
                      "with %d elements",
                      size(), m_index + 1));
  }
  data[m_index] = val;
  return *this;
}

double vpRotationVector::sumSquare() const
{
  double sum_square = 0.0;
 
  for (unsigned int i = 0; i < rowNum; ++i) {
    double x = rowPtrs[i][0];
    sum_square += x * x;
  }
 
  return sum_square;
}

vpColVector operator*(const double &x, const vpRotationVector &v)
{
  vpColVector vout;
  vout = v * x;
  return vout;
}
END_VISP_NAMESPACE