/*!
This function enables you to add new points in all curves of a plot. These points are drawn with the parameters of the curves.
\param graphNum : The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
\param x : The coordinate of the new points along the x axis and given in the user unit system.
\param v_y : y coordinates vector. The coordinates of the new points along the y axis and given in the user unit system.
*/
void vpPlot::plot(const unsigned int graphNum,
const double x, const vpPoseVector &v_y)
{
if((graphList+graphNum)->curveNbr == v_y.getRows())
{
for(unsigned int i = 0;i < v_y.getRows();++i)
this->plot(graphNum, i, x, v_y[i]);
}
else
vpTRACE("error in plot vector : not the right dimension");
}
/*!
Compute the direct geometric model of the camera in terms of pose vector.
\param q : Articular position for pan and tilt axis.
\param r : Pose vector corresponding to the transformation between the robot
reference frame (called fixed) and the camera frame.
*/
void
vpPtu46::computeMGD (const vpColVector & q, vpPoseVector & r)
{
vpHomogeneousMatrix fMc;
computeMGD (q, fMc);
r.buildFrom(fMc.inverse());
return ;
}
void
vpBiclops::get_fMc (const vpColVector &q, vpPoseVector &fvc)
{
vpHomogeneousMatrix fMc;
get_fMc (q, fMc);
fvc.buildFrom(fMc.inverse());
return ;
}
/*!
* Modify the current control position.
* \param position :
*/
void vpVirtuose::setPosition (vpPoseVector &position)
{
init();
float position_[7];
vpTranslationVector translation;
vpQuaternionVector quaternion;
position.extract(translation);
position.extract(quaternion);
for (int i=0; i<3; i++)
position_[i] = translation[i];
for (int i=0; i<4; i++)
position_[3+i] = quaternion[i];
if (virtSetPosition(m_virtContext, position_)) {
int err = virtGetErrorCode(m_virtContext);
throw(vpException(vpException::fatalError,
"Error calling virtSetPosition: error code %d", err));
}
}
vpColVector::vpColVector (const vpPoseVector &p)
: vpArray2D<double>(p.size(), 1)
{
for (unsigned int i=0; i< p.size(); i++)
(*this)[i] = p[i];
}
