Improve vpColVector and vpRowVector

modules/core/include/visp3/core/vpColVector.h

@@ -1,6 +1,6 @@
 /*
  * ViSP, open source Visual Servoing Platform software.
- * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
+ * Copyright (C) 2005 - 2026 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
@@ -195,24 +195,24 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
   /*!
    * Basic constructor that creates an empty 0-size column vector.
    */
-  vpColVector() : vpArray2D<double>() { }
+  vpColVector() : vpArray2D<double>() {}
 
   /*!
    * Construct a column vector of size n.
    * \warning Elements are not  initialized. If you want to set an initial value use
    * vpColVector(unsigned int, double).
    */
-  VP_EXPLICIT vpColVector(unsigned int n) : vpArray2D<double>(n, 1) { }
+  VP_EXPLICIT vpColVector(unsigned int n) : vpArray2D<double>(n, 1) {}
 
   /*!
    * Construct a column vector of size n. Each element is set to \e val.
    */
-  vpColVector(unsigned int n, double val) : vpArray2D<double>(n, 1, val) { }
+  vpColVector(unsigned int n, double val) : vpArray2D<double>(n, 1, val) {}
 
   /*!
    * Copy constructor that allows to construct a column vector from an other one.
    */
-  vpColVector(const vpColVector &v) : vpArray2D<double>(v) { }
+  vpColVector(const vpColVector &v) : vpArray2D<double>(v) {}
 
   /*!
    * Construct a column vector from a part of an input column vector \e v.
@@ -904,27 +904,51 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
   vpTranslationVector operator+(const vpTranslationVector &t) const;
 
   /*!
-   * Operator that allows to add two column vectors.
+   * In-place addition of a column vector.
+   * If the current vector is empty, it is automatically resized to the dimensions of \e v.
+   *
+   * \param v The vector to add.
+   * \return A reference to the current vector.
+   * \exception vpException::dimensionError If the dimensions do not match and the vector is not empty.
    */
   vpColVector &operator+=(const vpColVector &v);
 
   /*!
-   * Operator that allows to add a 3-dim translation vector to a 3-dim column vector.
+   * In-place addition of a translation vector.
+   * If the current vector is empty, it is automatically resized to the dimensions of \e t.
+   *
+   * \param t The 3-dim translation vector to add.
+   * \return A reference to the current vector.
+   * \exception vpException::dimensionError If the dimensions do not match and the vector is not empty.
    */
   vpColVector &operator+=(const vpTranslationVector &t);
 
   /*!
-   * Operator subtraction of two vectors this = this - v
+   * Subtraction of two vectors: result = this - v.
+   *
+   * \param v The vector to subtract.
+   * \return A new vector containing the result of the subtraction.
+   * \exception vpException::dimensionError If the dimensions do not match.
    */
   vpColVector operator-(const vpColVector &v) const;
 
   /*!
-   * Operator that allows to subtract two column vectors.
+   * In-place subtraction of a column vector.
+   * If the current vector is empty, it is automatically resized to the dimensions of \e v.
+   *
+   * \param v The vector to subtract.
+   * \return A reference to the current vector.
+   * \exception vpException::dimensionError If the dimensions do not match and the vector is not empty.
    */
   vpColVector &operator-=(const vpColVector &v);
 
   /*!
-   * Operator that allows to subtract a 3-dim translation vector to a 3-dim column vector.
+   * In-place subtraction of a translation vector.
+   * If the current vector is empty, it is automatically resized to the dimensions of \e t.
+   *
+   * \param t The 3-dim translation vector to suntract.
+   * \return A reference to the current vector.
+   * \exception vpException::dimensionError If the dimensions do not match and the vector is not empty.
    */
   vpColVector &operator-=(const vpTranslationVector &t);
 
@@ -1467,7 +1491,7 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
    * \deprecated Provided only for compat with previous releases.
    * This function does nothing.
    */
-  VP_DEPRECATED void init() { }
+  VP_DEPRECATED void init() {}
 
   /*!
    * \deprecated Provided only for compat with previous releases. Use rather

modules/core/include/visp3/core/vpRowVector.h

@@ -1,6 +1,6 @@
 /*
  * ViSP, open source Visual Servoing Platform software.
- * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
+ * Copyright (C) 2005 - 2026 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
@@ -124,23 +124,23 @@ class VISP_EXPORT vpRowVector : public vpArray2D<double>
 {
 public:
   //! Basic constructor that creates an empty 0-size row vector.
-  vpRowVector() : vpArray2D<double>() { }
+  vpRowVector() : vpArray2D<double>() {}
   //! Construct a row vector of size n. All the elements are initialized to
   //! zero.
-  VP_EXPLICIT vpRowVector(unsigned int n) : vpArray2D<double>(1, n) { }
+  VP_EXPLICIT vpRowVector(unsigned int n) : vpArray2D<double>(1, n) {}
   //! Construct a row vector of size n. Each element is set to \e val.
-  vpRowVector(unsigned int n, double val) : vpArray2D<double>(1, n, val) { }
+  vpRowVector(unsigned int n, double val) : vpArray2D<double>(1, n, val) {}
   //! Copy constructor that allows to construct a row vector from an other
   //! one.
-  vpRowVector(const vpRowVector &v) : vpArray2D<double>(v) { }
+  vpRowVector(const vpRowVector &v) : vpArray2D<double>(v) {}
   vpRowVector(const vpRowVector &v, unsigned int c, unsigned int ncols);
   VP_EXPLICIT vpRowVector(const vpMatrix &M);
   vpRowVector(const vpMatrix &M, unsigned int i);
   VP_EXPLICIT vpRowVector(const std::vector<double> &v);
   VP_EXPLICIT vpRowVector(const std::vector<float> &v);
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
   vpRowVector(vpRowVector &&v);
-  VP_EXPLICIT vpRowVector(const std::initializer_list<double> &list) : vpArray2D<double>(list) { }
+  VP_EXPLICIT vpRowVector(const std::initializer_list<double> &list) : vpArray2D<double>(list) {}
 #endif
 
   static vpRowVector view(double *raw_data, unsigned int ncols);
@@ -259,10 +259,10 @@ class VISP_EXPORT vpRowVector : public vpArray2D<double>
   vpRowVector &operator/=(double x);
 
   vpRowVector operator+(const vpRowVector &v) const;
-  vpRowVector &operator+=(vpRowVector v);
+  vpRowVector &operator+=(const vpRowVector &v);
 
   vpRowVector operator-(const vpRowVector &v) const;
-  vpRowVector &operator-=(vpRowVector v);
+  vpRowVector &operator-=(const vpRowVector &v);
   vpRowVector operator-() const;
 
   vpRowVector &operator<<(const vpRowVector &v);
@@ -337,7 +337,7 @@ class VISP_EXPORT vpRowVector : public vpArray2D<double>
      \deprecated Provided only for compat with previous releases.
      This function does nothing.
    */
-  VP_DEPRECATED void init() { }
+  VP_DEPRECATED void init() {}
   /*!
      \deprecated You should rather use stack(const vpRowVector &)
    */

modules/core/src/math/matrix/vpColVector.cpp

@@ -1,6 +1,6 @@
 /*
  * ViSP, open source Visual Servoing Platform software.
- * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
+ * Copyright (C) 2005 - 2026 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
@@ -89,7 +89,10 @@ vpTranslationVector vpColVector::operator+(const vpTranslationVector &t) const
 
 vpColVector &vpColVector::operator+=(const vpColVector &v)
 {
-  if (getRows() != v.getRows()) {
+  if (getRows() == 0) {
+    resize(v.getRows(), true);
+  }
+  else if (getRows() != v.getRows()) {
     throw(vpException(vpException::dimensionError, "Cannot add (%dx1) column vector to (%dx1) column vector", getRows(),
                       v.getRows()));
   }
@@ -102,7 +105,10 @@ vpColVector &vpColVector::operator+=(const vpColVector &v)
 
 vpColVector &vpColVector::operator+=(const vpTranslationVector &t)
 {
-  if (getRows() != t.getRows()) {
+  if (getRows() == 0) {
+    resize(t.getRows(), true);
+  }
+  else if (getRows() != t.getRows()) {
     throw(vpException(vpException::dimensionError, "Cannot add (%dx1) translation vector to (%dx1) column vector",
                       getRows(), t.getRows()));
   }
@@ -115,7 +121,10 @@ vpColVector &vpColVector::operator+=(const vpTranslationVector &t)
 
 vpColVector &vpColVector::operator-=(const vpColVector &v)
 {
-  if (getRows() != v.getRows()) {
+  if (getRows() == 0) {
+    resize(v.getRows(), true);
+  }
+  else if (getRows() != v.getRows()) {
     throw(vpException(vpException::dimensionError, "Cannot subtract (%dx1) column vector to (%dx1) column vector",
                       getRows(), v.getRows()));
   }
@@ -128,7 +137,10 @@ vpColVector &vpColVector::operator-=(const vpColVector &v)
 
 vpColVector &vpColVector::operator-=(const vpTranslationVector &t)
 {
-  if (getRows() != t.getRows()) {
+  if (getRows() == 0) {
+    resize(t.getRows(), true);
+  }
+  else if (getRows() != t.getRows()) {
     throw(vpException(vpException::dimensionError, "Cannot subtract (%dx1) translation vector to (%dx1) column vector",
                       getRows(), t.getRows()));
   }

modules/core/src/math/matrix/vpRowVector.cpp

@@ -1,6 +1,6 @@
 /*
  * ViSP, open source Visual Servoing Platform software.
- * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
+ * Copyright (C) 2005 - 2026 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
@@ -448,13 +448,19 @@ vpRowVector vpRowVector::operator+(const vpRowVector &v) const
 }
 
 /*!
-   Operator that allows to add two row vectors that have the same size.
-   \exception vpException::dimensionError If the size of the two vectors
-   differ.
+ * In-place addition of a row vector.
+ * If the current vector is empty, it is automatically resized to the dimensions of \e v.
+ *
+ * \param v The row vector to add.
+ * \return A reference to the current row vector.
+ * \exception vpException::dimensionError If the dimensions do not match and the vector is not empty.
  */
-vpRowVector &vpRowVector::operator+=(vpRowVector v)
+vpRowVector &vpRowVector::operator+=(const vpRowVector &v)
 {
-  if (getCols() != v.getCols()) {
+  if (getCols() == 0) {
+    resize(v.getCols(), true);
+  }
+  else if (getCols() != v.getCols()) {
     throw(vpException(vpException::dimensionError, "Cannot add (1x%d) row vector to (1x%d) row vector", getCols(),
                       v.getCols()));
   }
@@ -466,13 +472,19 @@ vpRowVector &vpRowVector::operator+=(vpRowVector v)
 }
 
 /*!
-   Operator that allows to subtract two row vectors that have the same size.
-   \exception vpException::dimensionError If the size of the two vectors
-   differ.
+ * In-place subtraction of a row vector.
+ * If the current vector is empty, it is automatically resized to the dimensions of \e v.
+ *
+ * \param v The row vector to subtract.
+ * \return A reference to the current row vector.
+ * \exception vpException::dimensionError If the dimensions do not match and the vector is not empty.
  */
-vpRowVector &vpRowVector::operator-=(vpRowVector v)
+vpRowVector &vpRowVector::operator-=(const vpRowVector &v)
 {
-  if (getCols() != v.getCols()) {
+  if (getCols() == 0) {
+    resize(v.getCols(), true);
+  }
+  else if (getCols() != v.getCols()) {
     throw(vpException(vpException::dimensionError, "Cannot subtract (1x%d) row vector to (1x%d) row vector", getCols(),
                       v.getCols()));
   }
@@ -621,7 +633,7 @@ vpRowVector::vpRowVector(const vpRowVector &v, unsigned int c, unsigned int ncol
 
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
 vpRowVector::vpRowVector(vpRowVector &&v) : vpArray2D<double>(std::move(v))
-{ }
+{}
 #endif
 
 /*!