vpRxyzVector.h

/****************************************************************************
 *
 * $Id: vpRxyzVector.h 4632 2014-02-03 17:06:40Z 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:
 * Rxyz angle parameterization for the rotation.
 * Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#ifndef vpRxyzVECTOR_H
#define vpRxyzVECTOR_H

#include <visp/vpMatrix.h>
#include <visp/vpRotationVector.h>
#include <visp/vpRotationMatrix.h>

class vpRotationMatrix;
class vpThetaUVector;

class VISP_EXPORT vpRxyzVector : public vpRotationVector
{
  friend class vpRotationMatrix;
  friend class vpThetaUVector;
  
 public:
  vpRxyzVector() {}
  vpRxyzVector(const vpRxyzVector &rxyz) : vpRotationVector(rxyz) {}

  vpRxyzVector(const double phi, const double theta, const double psi) :
    vpRotationVector (3) { r[0]=phi;r[1]=theta;r[2]=psi; }

  // initialize a Rxyz vector from a rotation matrix
  vpRxyzVector(const vpRotationMatrix& R) ;

  // initialize a Rxyz vector from a ThetaU vector
  vpRxyzVector(const vpThetaUVector&  tu) ;

  void buildFrom(const double phi, const double theta, const double psi)
  {
    r[0] = phi ;
    r[1] = theta ;
    r[2] = psi ;
  }

  // convert a rotation matrix into Rxyz vector
  vpRxyzVector buildFrom(const vpRotationMatrix& R) ;

  // convert a ThetaU vector into a Rxyz vector
  vpRxyzVector buildFrom(const vpThetaUVector& tu) ;

} ;

#endif