vpTranslationVector.h

/*
 * 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:
 * Translation vector.
 */

 
#ifndef VP_TRANSLATION_VECTOR_H
#define VP_TRANSLATION_VECTOR_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpPoseVector.h>
 
BEGIN_VISP_NAMESPACE
class vpMatrix;

class VISP_EXPORT vpTranslationVector : public vpArray2D<double>
{
public:
  vpTranslationVector() : vpArray2D<double>(3, 1), m_index(0) { }
  vpTranslationVector(double tx, double ty, double tz);
  vpTranslationVector(const vpTranslationVector &tv);
  VP_EXPLICIT vpTranslationVector(const vpHomogeneousMatrix &M);
  VP_EXPLICIT vpTranslationVector(const vpPoseVector &p);
  VP_EXPLICIT vpTranslationVector(const vpColVector &v);
 
  vpTranslationVector &buildFrom(const double &tx, const double &ty, const double &tz);
  vpTranslationVector &buildFrom(const vpHomogeneousMatrix &M);
  vpTranslationVector &buildFrom(const vpPoseVector &p);
  vpTranslationVector &buildFrom(const vpColVector &v);
 
  double frobeniusNorm() const;
 
  // operators
 
  // translation vectors additions  c = a + b (a, b  unchanged)
  vpTranslationVector operator+(const vpTranslationVector &tv) const;
  vpTranslationVector operator+(const vpColVector &v) const;
  // translation vectors subtraction  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*(double x) const;
  vpTranslationVector &operator*=(double x);
  vpTranslationVector operator/(double x) const;
  vpTranslationVector &operator/=(double x);
  // Copy operator.   Allow operation such as A = v
  vpTranslationVector &operator=(const vpColVector &tv);
  vpTranslationVector &operator=(const vpTranslationVector &tv);
  vpTranslationVector &operator=(double x);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpTranslationVector &operator=(const std::initializer_list<double> &list);
#endif

  inline double &operator[](unsigned int n) { return *(data + n); }
  inline const double &operator[](unsigned int n) const { return *(data + n); }
 
  vpTranslationVector &operator<<(double val);
  vpTranslationVector &operator,(double val);

  VP_NORETURN void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
  {
    (void)nrows;
    (void)ncols;
    (void)flagNullify;
    throw(vpException(vpException::fatalError, "Cannot resize a translation vector"));
  }
 
  void set(double tx, double ty, double tz);
 
  // Skew Symmetric matrix
  vpMatrix skew() const;
 
  double sumSquare() const;
 
  vpRowVector t() const;
 
  static vpTranslationVector cross(const vpTranslationVector &a, const vpTranslationVector &b);
  static vpTranslationVector mean(const std::vector<vpHomogeneousMatrix> &vec_M);
  static vpTranslationVector mean(const std::vector<vpTranslationVector> &vec_t);
  static vpMatrix skew(const vpTranslationVector &tv);
  static void skew(const vpTranslationVector &tv, vpMatrix &M);
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
  VP_DEPRECATED double euclideanNorm() const;
  //}
#endif
 
protected:
  unsigned int m_index; // index used for operator<< and operator, to fill a vector
private:
  static const unsigned int constr_val_3;
};
END_VISP_NAMESPACE
#endif