Visual Servoing Platform  version 3.6.1 under development (2024-03-28)
vpRxyzVector.cpp
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30  *
31  * Description:
32  * Rxyz angle parameterization for the rotation.
33  * Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
34  */
35 
36 #include <math.h>
37 
38 #include <visp3/core/vpRxyzVector.h>
39 
48 
51 
58 vpRxyzVector::vpRxyzVector(double phi, double theta, double psi) : vpRotationVector(3) { buildFrom(phi, theta, psi); }
59 
66 
74 
77 
79 vpRxyzVector::vpRxyzVector(const std::vector<double> &rxyz) : vpRotationVector(3) { buildFrom(rxyz); }
80 
89 {
90  double COEF_MIN_ROT = 1e-6;
91  double phi;
92 
93  if ((fabs(R[1][2]) < COEF_MIN_ROT) && (fabs(R[2][2]) < COEF_MIN_ROT))
94  phi = 0;
95  else
96  phi = atan2(-R[1][2], R[2][2]);
97 
98  double si = sin(phi);
99  double co = cos(phi);
100  double theta = atan2(R[0][2], -si * R[1][2] + co * R[2][2]);
101  double psi = atan2(co * R[1][0] + si * R[2][0], co * R[1][1] + si * R[2][1]);
102 
103  buildFrom(phi, theta, psi);
104 
105  return *this;
106 }
107 
115 {
117  R.buildFrom(tu);
118  buildFrom(R);
119 
120  return *this;
121 }
122 
129 void vpRxyzVector::buildFrom(double phi, double theta, double psi)
130 {
131  data[0] = phi;
132  data[1] = theta;
133  data[2] = psi;
134 }
135 
140 {
141  if (rxyz.size() != 3) {
142  throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension col vector",
143  rxyz.size()));
144  }
145  for (unsigned int i = 0; i < 3; i++)
146  data[i] = rxyz[i];
147 
148  return *this;
149 }
150 
154 vpRxyzVector vpRxyzVector::buildFrom(const std::vector<double> &rxyz)
155 {
156  if (rxyz.size() != 3) {
157  throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension std::vector",
158  rxyz.size()));
159  }
160  for (unsigned int i = 0; i < 3; i++)
161  data[i] = rxyz[i];
162 
163  return *this;
164 }
165 
186 {
187  for (unsigned int i = 0; i < dsize; i++)
188  data[i] = v;
189 
190  return *this;
191 }
192 
216 {
217  if (rxyz.size() != 3) {
218  throw(vpException(vpException::dimensionError, "Cannot set a R-xyz vector from a %d-dimension col vector",
219  rxyz.size()));
220  }
221  for (unsigned int i = 0; i < 3; i++)
222  data[i] = rxyz[i];
223 
224  return *this;
225 }
226 
227 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
245 vpRxyzVector &vpRxyzVector::operator=(const std::initializer_list<double> &list)
246 {
247  if (list.size() > size()) {
248  throw(vpException(
250  "Cannot set Euler x-y-z vector out of bounds. It has only %d values while you try to initialize with %d values",
251  size(), list.size()));
252  }
253  std::copy(list.begin(), list.end(), data);
254  return *this;
255 }
256 #endif
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:138
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:134
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:286
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ dimensionError
Bad dimension.
Definition: vpException.h:83
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Implementation of a generic rotation vector.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
vpRxyzVector buildFrom(const vpRotationMatrix &R)
vpRxyzVector & operator=(const vpColVector &rxyz)
Implementation of a rotation vector as axis-angle minimal representation.