vpTranslationVector.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:
 * Translation vector.
 */

 
#include <stdio.h>
#include <string.h>
 
#include <visp3/core/vpTranslationVector.h>
 
BEGIN_VISP_NAMESPACE
const unsigned int vpTranslationVector::constr_val_3 = 3;
vpTranslationVector::vpTranslationVector(double tx, double ty, double tz) : vpArray2D<double>(constr_val_3, 1), m_index(0)
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  (*this)[index_0] = tx;
  (*this)[index_1] = ty;
  (*this)[index_2] = tz;
}

vpTranslationVector::vpTranslationVector(const vpHomogeneousMatrix &M) : vpArray2D<double>(constr_val_3, 1), m_index(0)
{
  M.extract(*this);
}

vpTranslationVector::vpTranslationVector(const vpPoseVector &p) : vpArray2D<double>(constr_val_3, 1), m_index(0)
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  (*this)[index_0] = p[index_0];
  (*this)[index_1] = p[index_1];
  (*this)[index_2] = p[index_2];
}

vpTranslationVector::vpTranslationVector(const vpTranslationVector &tv) : vpArray2D<double>(tv), m_index(0) { }

vpTranslationVector::vpTranslationVector(const vpColVector &v) : vpArray2D<double>(v), m_index(0)
{
  const unsigned int val_3 = 3;
  if (v.size() != val_3) {
    throw(vpException(vpException::dimensionError,
                      "Cannot construct a translation vector from a "
                      "%d-dimension column vector",
                      v.size()));
  }
}

vpTranslationVector &vpTranslationVector::buildFrom(const vpHomogeneousMatrix &M)
{
  M.extract(*this);
  return *this;
}

vpTranslationVector &vpTranslationVector::buildFrom(const vpPoseVector &p)
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  (*this)[index_0] = p[index_0];
  (*this)[index_1] = p[index_1];
  (*this)[index_2] = p[index_2];
  return *this;
}

vpTranslationVector &vpTranslationVector::buildFrom(const vpColVector &v)
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  const unsigned int v_size = 3;
  if (v.size() != v_size) {
    throw(vpException(vpException::dimensionError,
                      "Cannot build a translation vector from a %d-dimension column vector", v.size()));
  }
 
  (*this)[index_0] = v[index_0];
  (*this)[index_1] = v[index_1];
  (*this)[index_2] = v[index_2];
  return *this;
}

vpTranslationVector &vpTranslationVector::buildFrom(const double &tx, const double &ty, const double &tz)
{
  set(tx, ty, tz);
  return *this;
}

void vpTranslationVector::set(double tx, double ty, double tz)
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  (*this)[index_0] = tx;
  (*this)[index_1] = ty;
  (*this)[index_2] = tz;
}

vpTranslationVector vpTranslationVector::operator+(const vpTranslationVector &tv) const
{
  vpTranslationVector s;
 
  const unsigned int val_3 = 3;
  for (unsigned int i = 0; i < val_3; ++i) {
    s[i] = (*this)[i] + tv[i];
  }
 
  return s;
}

vpTranslationVector vpTranslationVector::operator+(const vpColVector &v) const
{
  const unsigned int val_3 = 3;
  if (v.size() != val_3) {
    throw(vpException(vpException::dimensionError, "Cannot add translation vector to a %d-dimension column vector",
                      v.size()));
  }
  vpTranslationVector s;
 
  for (unsigned int i = 0; i < val_3; ++i) {
    s[i] = (*this)[i] + v[i];
  }
 
  return s;
}

vpTranslationVector vpTranslationVector::operator-(const vpTranslationVector &tv) const
{
  vpTranslationVector sub;
 
  const unsigned int val_3 = 3;
  for (unsigned int i = 0; i < val_3; ++i) {
    sub[i] = (*this)[i] - tv[i];
  }
 
  return sub;
}

vpTranslationVector vpTranslationVector::operator-() const // negate
{
  vpTranslationVector tv;
  for (unsigned int i = 0; i < dsize; ++i) {
    *(tv.data + i) = -*(data + i);
  }
 
  return tv;
}

vpTranslationVector vpTranslationVector::operator*(double x) const
{
  vpTranslationVector tv;
  for (unsigned int i = 0; i < dsize; ++i) {
    *(tv.data + i) = (*(data + i)) * x;
  }
 
  return tv;
}

vpMatrix vpTranslationVector::operator*(const vpRowVector &v) const
{
  vpMatrix M(rowNum, v.getCols());
  unsigned int v_col = v.getCols();
  for (unsigned int i = 0; i < rowNum; ++i) {
    for (unsigned int j = 0; j < v_col; ++j) {
      M[i][j] = (*this)[i] * v[j];
    }
  }
  return M;
}

vpTranslationVector &vpTranslationVector::operator*=(double x)
{
  for (unsigned int i = 0; i < rowNum; ++i) {
    (*this)[i] *= x;
  }
  return *this;
}

vpTranslationVector &vpTranslationVector::operator/=(double x)
{
  for (unsigned int i = 0; i < rowNum; ++i) {
    (*this)[i] /= x;
  }
  return *this;
}

vpTranslationVector vpTranslationVector::operator/(double x) const
{
  vpTranslationVector tv;
  for (unsigned int i = 0; i < dsize; ++i) {
    *(tv.data + i) = (*(data + i)) / x;
  }
 
  return tv;
}

vpTranslationVector &vpTranslationVector::operator=(const vpColVector &tv)
{
  const unsigned int val_3 = 3;
  if (tv.size() != val_3) {
    throw(vpException(vpException::dimensionError,
                      "Cannot initialize a translation vector from a "
                      "%d-dimension col vector",
                      tv.size()));
  }
  unsigned int k = tv.size();
  if (rowNum != k) {
    try {
      resize(k, 1);
    }
    catch (...) {
      throw;
    }
  }
 
  memcpy(data, tv.data, rowNum * sizeof(double));
 
  return *this;
}

vpTranslationVector &vpTranslationVector::operator=(const vpTranslationVector &tv)
{
  unsigned int k = tv.rowNum;
  if (rowNum != k) {
    try {
      resize(k, 1);
    }
    catch (...) {
      throw;
    }
  }
 
  memcpy(data, tv.data, rowNum * sizeof(double));
 
  return *this;
}

vpTranslationVector &vpTranslationVector::operator=(double x)
{
  double *d = data;
 
  const int val_3 = 3;
  for (int i = 0; i < val_3; ++i) {
    *(d++) = x;
  }
 
  return *this;
}
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
vpTranslationVector &vpTranslationVector::operator=(const std::initializer_list<double> &list)
{
  if (list.size() > size()) {
    throw(vpException(
      vpException::dimensionError,
      "Cannot set translation vector out of bounds. It has only %d values while you try to initialize with %d values",
      size(), list.size()));
  }
  std::copy(list.begin(), list.end(), data);
  return *this;
}
#endif

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

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

void vpTranslationVector::skew(const vpTranslationVector &tv, vpMatrix &M)
{
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  const unsigned int val_3 = 3;
  M.resize(val_3, val_3);
  M[index_0][index_0] = 0;
  M[index_0][index_1] = -tv[index_2];
  M[index_0][index_2] = tv[index_1];
  M[index_1][index_0] = tv[index_2];
  M[index_1][index_1] = 0;
  M[index_1][index_2] = -tv[index_0];
  M[index_2][index_0] = -tv[index_1];
  M[index_2][index_1] = tv[index_0];
  M[index_2][index_2] = 0;
}

vpMatrix vpTranslationVector::skew(const vpTranslationVector &tv)
{
  vpMatrix M(3, 3);
  skew(tv, M);
  return M;
}

vpMatrix vpTranslationVector::skew() const
{
  vpMatrix M(3, 3);
  skew(*this, M);
  return M;
}

vpTranslationVector vpTranslationVector::cross(const vpTranslationVector &a, const vpTranslationVector &b)
{
  vpMatrix skew_a = vpTranslationVector::skew(a);
  return static_cast<vpTranslationVector>(skew_a * b);
}

vpRowVector vpTranslationVector::t() const
{
  vpRowVector v(rowNum);
  memcpy(v.data, data, rowNum * sizeof(double));
  return v;
}
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

double vpTranslationVector::euclideanNorm() const { return frobeniusNorm(); }
 
#endif

double vpTranslationVector::frobeniusNorm() const
{
  double norm = sumSquare();
 
  return sqrt(norm);
}

double vpTranslationVector::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;
}

vpTranslationVector vpTranslationVector::mean(const std::vector<vpHomogeneousMatrix> &vec_M)
{
  vpColVector meanT(3);
  size_t vec_m_size = vec_M.size();
  for (size_t i = 0; i < vec_m_size; ++i) {
    meanT += static_cast<vpColVector>(vec_M[i].getTranslationVector());
  }
  meanT /= static_cast<double>(vec_M.size());
 
  vpTranslationVector t(meanT);
  return t;
}

vpTranslationVector vpTranslationVector::mean(const std::vector<vpTranslationVector> &vec_t)
{
  vpColVector meanT(3);
  size_t l_vec_t_size = vec_t.size();
  for (size_t i = 0; i < l_vec_t_size; ++i) {
    meanT += static_cast<vpColVector>(vec_t[i]);
  }
  meanT /= static_cast<double>(vec_t.size());
 
  vpTranslationVector t(meanT);
  return t;
}
END_VISP_NAMESPACE