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vpTranslationVector.h
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/****************************************************************************
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*
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* $Id: vpTranslationVector.h 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Translation vector.
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*
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* Authors:
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* Eric Marchand
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef vpTRANSLATIONVECTOR_H
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#define vpTRANSLATIONVECTOR_H
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#include <visp/vpColVector.h>
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class
VISP_EXPORT
vpTranslationVector
:
public
vpColVector
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{
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private
:
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void
init
() ;
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public
:
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vpTranslationVector
() {
init
() ; }
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// constructor from double in meter
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vpTranslationVector
(
const
double
tx,
const
double
ty,
const
double
tz) ;
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// copy constructor
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vpTranslationVector
(
const
vpTranslationVector
&t);
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void
set
(
const
double
tx,
const
double
ty,
const
double
tz) ;
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// operators
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// translation vectors additions c = a + b (a, b unchanged)
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vpTranslationVector
operator+
(
const
vpTranslationVector
&t)
const
;
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// translation vectors substraction c = a - b (a, b unchanged)
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vpTranslationVector
operator-
(
const
vpTranslationVector
&t)
const
;
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// negate t = -a (t is unchanged)
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vpTranslationVector
operator-
()
const
;
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// b = x * a (x=scalar)
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vpTranslationVector
operator*
(
const
double
x)
const
;
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// Copy operator. Allow operation such as A = v
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vpTranslationVector
&
operator=
(
const
vpTranslationVector
&t);
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vpTranslationVector
&
operator=
(
double
x) ;
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// Skew Symmetric matrix
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vpMatrix
skew
()
const
;
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static
vpMatrix
skew
(
const
vpTranslationVector
&t) ;
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static
void
skew
(
const
vpTranslationVector
&t,
vpMatrix
&M) ;
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static
vpTranslationVector
cross
(
const
vpTranslationVector
&a,
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const
vpTranslationVector
&b) ;
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} ;
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#endif
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/*
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* Local variables:
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* c-basic-offset: 4
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* End:
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*/
src
math
transformation
vpTranslationVector.h
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