/usr/include/visp/vpTranslationVector.h is in libvisp-dev 2.8.0-4.
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*
* $Id: vpTranslationVector.h 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 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
* ("GPL") version 2 as published by the Free Software Foundation.
* 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* 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.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#ifndef vpTRANSLATIONVECTOR_H
#define vpTRANSLATIONVECTOR_H
/*!
\file vpTranslationVector.h
\brief Class that consider the case of a translation vector.
*/
#include <visp/vpColVector.h>
/*!
\class vpTranslationVector
\ingroup TransTransformation
\brief Class that consider the case of a translation vector.
Let be \f$^{a}{\bf t}_{b} = [t_x,t_y,t_z]^\top\f$ be a translation
from frame \f$ a \f$ to frame \f$ b \f$. The representation of a
translation is a column vector of dimension 3.
Translations are expressed in meters.
The code below shows how to use a translation vector to build an
homogeneous matrix.
\code
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRotationMatrix.h>
#include <visp/vpTranslationVector.h>
int main()
{
vpTranslationVector t; // Translation vector
// Initialization of the translation vector
t[0] = 0.2; // tx = 0.2 meters
t[1] = -0.1; // ty = -0.1 meters
t[2] = 1.0; // tz = 1 meters
// Construction of a rotation matrix
vpRotationMatrix R; // Set to identity by default
// Construction of an homogeneous matrix
vpHomogeneousMatrix M(t, R);
}
\endcode
*/
class VISP_EXPORT vpTranslationVector : public vpColVector
{
private:
//! initialize a size 3 vector
void init() ;
public:
/*!
Default constructor.
The translation vector is initialized to zero.
*/
vpTranslationVector() { init() ; }
// constructor from double in meter
vpTranslationVector(const double tx, const double ty, const double tz) ;
// copy constructor
vpTranslationVector(const vpTranslationVector &t);
void set(const double tx, const double ty, const double tz) ;
// operators
// translation vectors additions c = a + b (a, b unchanged)
vpTranslationVector operator+(const vpTranslationVector &t) const ;
// translation vectors substraction c = a - b (a, b unchanged)
vpTranslationVector operator-(const vpTranslationVector &t) const ;
// negate t = -a (t is unchanged)
vpTranslationVector operator-() const ;
// b = x * a (x=scalar)
vpTranslationVector operator*(const double x) const;
// Copy operator. Allow operation such as A = v
vpTranslationVector &operator=(const vpTranslationVector &t);
vpTranslationVector &operator=(double x) ;
// Skew Symmetric matrix
vpMatrix skew() const ;
static vpMatrix skew(const vpTranslationVector &t) ;
static void skew(const vpTranslationVector &t, vpMatrix &M) ;
static vpTranslationVector cross(const vpTranslationVector &a,
const vpTranslationVector &b) ;
} ;
#endif
/*
* Local variables:
* c-basic-offset: 4
* End:
*/
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