vpRotationVector Class Reference

#include <vpRotationVector.h>

Inheritance diagram for vpRotationVector:

Public Member Functions
	vpRotationVector ()
	vpRotationVector (const unsigned int n)
	~vpRotationVector ()
double &	operator[] (unsigned int n)
const double &	operator[] (unsigned int n) const
unsigned int	size () const
vpRowVector	t () const

Protected Member Functions
void	init (const unsigned int size)

Protected Attributes
double *	r
unsigned int	_size

Friends
class	vpColVector
VISP_EXPORT std::ostream &	operator<< (std::ostream &s, const vpRotationVector &m)

Detailed Description

Class that consider the case of a generic rotation vector (cannot be used as is !) consisting in three angles.

The code below shows how this class can be used to manipulate a vpRxyzVector.

#include <iostream>
#include <visp/vpRxyzVector.h>
#include <visp/vpMath.h>

int main() 
{
  vpRxyzVector r;         // By default initialized to zero
  r[0] = vpMath::rad(45); // Rotation around x set to 45 degres converted in radians
  r[1] = M_PI;            // Rotation around y set to PI radians
  r[2] = 0;               // Rotation around z set to 0 radians
  
  std::cout << "Rxyz rotation vector: " << r << std::endl;

  double rx = r[1];       // Get the value of the angle around x axis
  double ry = r[2];       // Get the value of the angle around y axis
  double rz = r[3];       // Get the value of the angle around z axis
}

Definition at line 95 of file vpRotationVector.h.

Constructor & Destructor Documentation

vpRotationVector::vpRotationVector ( )

inline

Constructor that constructs a vector of size 3 initialize three vector values to zero.

Definition at line 104 of file vpRotationVector.h.

References vpMatrix::init().

vpRotationVector::vpRotationVector ( const unsigned int  n )

inline

Constructor that constructs a vector of size n initialize three vector values to zero.

Definition at line 110 of file vpRotationVector.h.

References vpMatrix::init().

vpRotationVector::~vpRotationVector

(

)

Definition at line 119 of file vpRotationVector.cpp.

References r.

Member Function Documentation

void vpRotationVector::init ( const unsigned int  size )

protected

Definition at line 113 of file vpRotationVector.cpp.

References _size, r, and size().

double& vpRotationVector::operator[] ( unsigned int  n )

inline

Operator that allows to set the value of an element of the rotation vector: r[i] = value

Definition at line 120 of file vpRotationVector.h.

const double& vpRotationVector::operator[] ( unsigned int  n ) const

inline

Operator that allows to get the value of an element of the rotation vector: value = r[i]

Definition at line 125 of file vpRotationVector.h.

unsigned int vpRotationVector::size

(

)

const

Returns the size of the rotation vector

Size of the rotation vector: number of double values describing the rotation. Common sizes are 4 for a quaternion and 3 for angle-based rotation vectors.

Definition at line 71 of file vpRotationVector.cpp.

References _size.

Referenced by init(), vpQuaternionVector::operator=(), and vpQuaternionVector::vpQuaternionVector().

vpRowVector vpRotationVector::t

(

)

const

Return the transpose of the rotation vector.

Examples:

testViper850.cpp.

Definition at line 57 of file vpRotationVector.cpp.

References _size, and r.

Friends And Related Function Documentation

VISP_EXPORT std::ostream& operator<< ( std::ostream &  s, const vpRotationVector &  m  )

friend

Print the values of the three angles on the output stream. Data are formatted as a column vector.

#include <iostream>
#include <visp/vpRxyzVector.h>

int main()
{
  vpRxyzVector r; // By default initialized to zero
  
  std::cout << "Rxyz rotation vector: " << std::endl << r << std::endl;
}

will lead to the following printing on the standart stream:

Rxyz rotation vector:
0
0
0

Definition at line 100 of file vpRotationVector.cpp.

friend class vpColVector

friend

Definition at line 97 of file vpRotationVector.h.

Member Data Documentation

unsigned int vpRotationVector::_size

protected

Definition at line 100 of file vpRotationVector.h.

Referenced by init(), size(), t(), and vpColVector::vpColVector().

double* vpRotationVector::r

protected

Definition at line 99 of file vpRotationVector.h.

Referenced by vpThetaUVector::buildFrom(), vpRzyzVector::buildFrom(), vpRzyxVector::buildFrom(), vpRxyzVector::buildFrom(), vpThetaUVector::extract(), init(), vpQuaternionVector::operator=(), vpRzyzVector::operator=(), vpRzyxVector::operator=(), vpRxyzVector::operator=(), vpThetaUVector::operator=(), vpQuaternionVector::set(), t(), vpColVector::vpColVector(), vpQuaternionVector::vpQuaternionVector(), vpRxyzVector::vpRxyzVector(), vpRzyxVector::vpRzyxVector(), vpRzyzVector::vpRzyzVector(), and ~vpRotationVector().