vpColVector.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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:
 * Provide some simple operation on column vectors.
 */

 
#ifndef VP_COLVECTOR_H
#define VP_COLVECTOR_H
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_NLOHMANN_JSON
#include VISP_NLOHMANN_JSON(json.hpp)
#endif
BEGIN_VISP_NAMESPACE
class vpMatrix;
class vpRowVector;
class vpRotationVector;
class vpTranslationVector;
class vpPoseVector;
END_VISP_NAMESPACE
 
#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoseVector.h>
#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpRowVector.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpColVector : public vpArray2D<double>
{
  friend class vpMatrix;
 
public:
  vpColVector() : vpArray2D<double>() { }

  VP_EXPLICIT vpColVector(unsigned int n) : vpArray2D<double>(n, 1) { }

  vpColVector(unsigned int n, double val) : vpArray2D<double>(n, 1, val) { }

  vpColVector(const vpColVector &v) : vpArray2D<double>(v) { }

  vpColVector(const vpColVector &v, unsigned int r, unsigned int nrows);

  VP_EXPLICIT vpColVector(const vpRotationVector &v);

  VP_EXPLICIT vpColVector(const vpPoseVector &p);

  VP_EXPLICIT vpColVector(const vpTranslationVector &t);

  VP_EXPLICIT vpColVector(const vpMatrix &M);

  vpColVector(const vpMatrix &M, unsigned int j);

  VP_EXPLICIT vpColVector(const std::vector<double> &v);

  VP_EXPLICIT vpColVector(const std::vector<float> &v);
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpColVector(vpColVector &&v);
#endif
 
#if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher
  vpColVector(const std::initializer_list<double> &list) : vpArray2D<double>(static_cast<unsigned int>(list.size()), 1)
  {
    std::copy(list.begin(), list.end(), data);
  }
#endif
 
  static vpColVector view(double *raw_data, unsigned int rows);
  static void view(vpColVector &v, double *raw_data, unsigned int rows);

  void clear()
  {
    if (!isMemoryOwner) {
      throw vpException(vpException::fatalError, "Cannot clear a vector view");
    }
    if (data != nullptr) {
      free(data);
      data = nullptr;
    }
 
    if (rowPtrs != nullptr) {
      free(rowPtrs);
      rowPtrs = nullptr;
    }
    rowNum = 0;
    colNum = 0;
    dsize = 0;
  }

  std::ostream &cppPrint(std::ostream &os, const std::string &matrixName = "A", bool octet = false) const;

  std::ostream &csvPrint(std::ostream &os) const;

  inline vpColVector &deg2rad()
  {
    double d2r = M_PI / 180.0;
 
    (*this) *= d2r;
    return (*this);
  }

  vpColVector extract(unsigned int r, unsigned int colsize) const
  {
    if ((r >= rowNum) || ((r + colsize) > rowNum)) {
      throw(vpException(vpException::fatalError,
                        "Cannot extract a (%dx1) column vector from a (%dx1) "
                        "column vector starting at index %d",
                        colsize, rowNum, r));
    }
 
    return vpColVector(*this, r, colsize);
  }

  double frobeniusNorm() const;

  vpColVector hadamard(const vpColVector &v) const;

  double infinityNorm() const;

  void init(const vpColVector &v, unsigned int r, unsigned int nrows);

  void insert(unsigned int i, const vpColVector &v);

  std::ostream &maplePrint(std::ostream &os) const;

  std::ostream &matlabPrint(std::ostream &os) const;

  vpColVector &normalize();

  vpColVector &normalize(vpColVector &x) const;

  inline double &operator[](unsigned int n) { return *(data + n); }

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

  vpColVector &operator=(const vpColVector &v);

  vpColVector &operator=(const vpPoseVector &p);

  vpColVector &operator=(const vpRotationVector &rv);

  vpColVector &operator=(const vpTranslationVector &tv);

  vpColVector &operator=(const vpMatrix &M);

  vpColVector &operator=(const std::vector<double> &v);

  vpColVector &operator=(const std::vector<float> &v);

  vpColVector &operator=(double x);
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpColVector &operator=(vpColVector &&v);

  vpColVector &operator=(const std::initializer_list<double> &list);
#endif

  bool operator==(const vpColVector &v) const;

  bool operator==(double v) const;

  bool operator!=(const vpColVector &v) const;

  bool operator!=(double v) const;

  double operator*(const vpColVector &v) const;

  vpMatrix operator*(const vpRowVector &v) const;

  vpMatrix operator*(const vpMatrix &M) const;

  vpColVector operator*(double x) const;

  vpColVector &operator*=(double x);

  vpColVector operator/(double x) const;

  vpColVector &operator/=(double x);

  vpColVector operator+(const vpColVector &v) const;

  vpTranslationVector operator+(const vpTranslationVector &t) const;

  vpColVector &operator+=(const vpColVector &v);

  vpColVector &operator+=(const vpTranslationVector &t);

  vpColVector operator-(const vpColVector &v) const;

  vpColVector &operator-=(const vpColVector &v);

  vpColVector &operator-=(const vpTranslationVector &t);

  vpColVector operator-() const;

  vpColVector &operator<<(const vpColVector &v);

  vpColVector &operator<<(double *x);

  vpColVector &operator<<(double val);

  vpColVector &operator,(double val);

  int print(std::ostream &s, unsigned int length, char const *intro = nullptr) const;

  inline vpColVector &rad2deg()
  {
    double r2d = 180.0 / M_PI;
 
    (*this) *= r2d;
    return (*this);
  }

  void reshape(vpMatrix &M, const unsigned int &nrows, const unsigned int &ncols);

  vpMatrix reshape(unsigned int nrows, unsigned int ncols);

 
  void resize(unsigned int i, bool flagNullify = true)
  {
    vpArray2D<double>::resize(i, 1, flagNullify);
  }

  void resize(unsigned int nrows, unsigned int ncols, bool flagNullify)
  {
    if (ncols != 1) {
      throw(vpException(vpException::fatalError,
                        "Cannot resize a column vector to a (%dx%d) "
                        "dimension vector that has more than one column",
                        nrows, ncols));
    }
    vpArray2D<double>::resize(nrows, ncols, flagNullify);
  }

  void stack(double d);

  void stack(const vpColVector &v);

  double sum() const;

  double sumSquare() const;

  vpRowVector t() const;

  std::vector<double> toStdVector() const;

  vpRowVector transpose() const;

  void transpose(vpRowVector &v) const;

  inline static vpColVector cross(const vpColVector &a, const vpColVector &b) { return crossProd(a, b); }

  static vpColVector crossProd(const vpColVector &a, const vpColVector &b);

  static double dotProd(const vpColVector &a, const vpColVector &b);

  static vpColVector invSort(const vpColVector &v);

  static double median(const vpColVector &v);

  static double mean(const vpColVector &v);

  static vpMatrix skew(const vpColVector &v);

  static vpColVector sort(const vpColVector &v);

  static vpColVector stack(const vpColVector &A, const vpColVector &B);

  static void stack(const vpColVector &A, const vpColVector &B, vpColVector &C);

  static double stdev(const vpColVector &v, bool useBesselCorrection = false);
 
#ifdef VISP_HAVE_NLOHMANN_JSON
  friend void to_json(nlohmann::json &j, const vpColVector &v);

  friend void from_json(const nlohmann::json &j, vpColVector &v);
#endif
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

  VP_DEPRECATED void init() { }

  VP_DEPRECATED void insert(const vpColVector &v, unsigned int i);

  VP_DEPRECATED vpColVector rows(unsigned int first_row, unsigned int last_row) const
  {
    return vpColVector(*this, first_row - 1, last_row - first_row + 1);
  }

  VP_DEPRECATED void stackMatrices(const vpColVector &r) { stack(r); }

  VP_DEPRECATED static vpColVector stackMatrices(const vpColVector &A, const vpColVector &B) { return stack(A, B); }

  VP_DEPRECATED static void stackMatrices(const vpColVector &A, const vpColVector &B, vpColVector &C)
  {
    stack(A, B, C);
  }

  VP_DEPRECATED void insert(const vpColVector &v, unsigned int r, unsigned int c = 0);

  VP_DEPRECATED double euclideanNorm() const;
#endif
};

#ifndef DOXYGEN_SHOULD_SKIP_THIS
VISP_EXPORT
#endif
vpColVector operator*(const double &x, const vpColVector &v);
 
 
#ifdef VISP_HAVE_NLOHMANN_JSON
inline void to_json(nlohmann::json &j, const vpColVector &v)
{
  const vpArray2D<double> *asArray = &v;
  to_json(j, *asArray);
  j["type"] = "vpColVector";
}
 
inline void from_json(const nlohmann::json &j, vpColVector &v)
{
  vpArray2D<double> *asArray = &v;
  from_json(j, *asArray);
  if (v.getCols() != 1) {
    throw vpException(vpException::badValue, "From JSON, tried to read a 2D array into a vpColVector");
  }
}
#endif
END_VISP_NAMESPACE
#endif