ViSP  2.10.0
vpRzyxVector.h
1 /****************************************************************************
2  *
3  * $Id: vpRzyxVector.h 4632 2014-02-03 17:06:40Z fspindle $
4  *
5  * This file is part of the ViSP software.
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12  * distribution for additional information about the GNU GPL.
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14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
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19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
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30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Rzyx angle parameterization for the rotation.
36  * Rzyx(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(x,psi)
37  *
38  * Authors:
39  * Eric Marchand
40  * Fabien Spindler
41  *
42  *****************************************************************************/
43 
44 #ifndef vpRzyxVector_h
45 #define vpRzyxVector_h
46 
56 #include <visp/vpRotationMatrix.h>
57 #include <visp/vpRotationVector.h>
58 
59 class vpRotationMatrix;
60 class vpThetaUVector;
61 
151 class VISP_EXPORT vpRzyxVector : public vpRotationVector
152 {
153  friend class vpRotationMatrix;
154  friend class vpThetaUVector;
155 
156 public:
161 
168  vpRzyxVector(const double phi, const double theta, const double psi) :
169  vpRotationVector (3) { r[0]=phi;r[1]=theta;r[2]=psi; }
170 
171  // initialize a Rzyx vector from a rotation matrix
172  vpRzyxVector(const vpRotationMatrix& R) ;
173 
174  // initialize a Rzyx vector from a ThetaU vector
175  vpRzyxVector(const vpThetaUVector& tu) ;
176 
183  void buildFrom(const double phi, const double theta, const double psi)
184  {
185  r[0] = phi ;
186  r[1] = theta ;
187  r[2] = psi ;
188  }
189 
190  // convert a rotation matrix into Rzyx vector
192 
193  // convert a ThetaU vector into a Rzyx vector
195 
196 } ;
197 
198 #endif
199 
200 /*
201  * Local variables:
202  * c-basic-offset: 2
203  * End:
204  */
Class that consider the case of a generic rotation vector (cannot be used as is !) consisting in thre...
Class that consider the case of the Euler angle using the z-y-x convention, where are respectively ...
Definition: vpRzyxVector.h:151
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
The vpRotationMatrix considers the particular case of a rotation matrix.
vpRzyxVector(const double phi, const double theta, const double psi)
Definition: vpRzyxVector.h:168
void buildFrom(const double phi, const double theta, const double psi)
Definition: vpRzyxVector.h:183
Class that consider the case of the parameterization for the rotation.
vpRzyxVector(const vpRzyxVector &rzyx)
Definition: vpRzyxVector.h:160