vpRotationMatrix.h

/****************************************************************************
 *
 * $Id: vpRotationMatrix.h 5037 2014-12-05 19:06:41Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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:
 * Rotation matrix.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#ifndef vpROTATIONMATRIX_H
#define vpROTATIONMATRIX_H

#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpMatrix.h>
#include <visp/vpRxyzVector.h>
#include <visp/vpRzyxVector.h>
#include <visp/vpRzyzVector.h>
#include <visp/vpThetaUVector.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpQuaternionVector.h>
#include <visp/vpPoseVector.h>

class VISP_EXPORT vpRotationMatrix : public vpMatrix
{
  friend class vpMatrix;
  friend class vpHomogeneousMatrix;
  friend class vpRxyzVector;
  friend class vpRzyzVector;
  friend class vpRzyxVector;
  friend class vpThetaUVector;
  friend class vpTranslationVector;
  friend class vpPoseVector;
public:
  void init() ;

  void setIdentity() ;
  void eye();
  vpRotationMatrix()   ;
  vpRotationMatrix(const vpRotationMatrix &R) ;
  vpRotationMatrix(const vpHomogeneousMatrix &M) ;
  vpRotationMatrix(const vpThetaUVector &r) ;
  vpRotationMatrix(const vpPoseVector &p) ;
  vpRotationMatrix(const vpRzyzVector &r) ;
  vpRotationMatrix(const vpRxyzVector &r) ;
  vpRotationMatrix(const vpRzyxVector &r) ;
  vpRotationMatrix(const double tux, const  double tuy, const double tuz) ;

  vpRotationMatrix(const vpQuaternionVector& q);

//  /*!
//    Return the \f$\theta u\f$ vector that corresponds to tha rotation matrix.
//   */
//  vpThetaUVector getThetaUVector()
//  {
//    vpThetaUVector tu;
//    tu.buildFrom(*this);
//    return tu;
//  }

  vpRotationMatrix &operator=(const vpRotationMatrix &R);
  vpRotationMatrix &operator=(const vpMatrix &m) ;
  vpTranslationVector operator*(const vpTranslationVector &mat) const ;
  vpRotationMatrix operator*(const vpRotationMatrix &B) const ;
  vpMatrix operator*(const vpMatrix &B) const ;
  // operation v2 = A * v1 (A is unchanged)
  vpColVector operator*(const vpColVector &v) const ;
  vpRotationMatrix operator+(const vpRotationMatrix &B) const ;
  vpRotationMatrix operator-(const vpRotationMatrix &B) const ;

  vpRotationMatrix t() const ;

  vpRotationMatrix inverse() const ;
  void inverse(vpRotationMatrix &M) const;

  bool isARotationMatrix() const  ;

  void printVector() ;
  friend VISP_EXPORT std::ostream &operator << (std::ostream &s, const vpRotationMatrix &m);

  vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M) ;
  vpRotationMatrix buildFrom(const vpThetaUVector &v) ;
  vpRotationMatrix buildFrom(const vpPoseVector &p) ;
  vpRotationMatrix buildFrom(const vpRzyzVector &v) ;
  vpRotationMatrix buildFrom(const vpRxyzVector &v) ;
  vpRotationMatrix buildFrom(const vpRzyxVector &v) ;
  vpRotationMatrix buildFrom(const double tux,
                 const double tuy,
                 const double tuz) ;
  
  vpRotationMatrix buildFrom(const vpQuaternionVector& q);
private:
  static const double threshold;
  static const double minimum; // useful only for debug
  };

#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */