vpPoseVector.h

/****************************************************************************
 *
 * $Id: vpPoseVector.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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:
 * Pose object. A pose is a size 6 vector [t, tu]^T where tu is
 * a rotation vector (theta u representation) and t is a translation vector.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#ifndef vpPOSEVECTOR_H
#define vpPOSEVECTOR_H

class vpRotationMatrix;
class vpHomogeneousMatrix;
class vpTranslationVector;
class vpThetaUVector;

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

class vpRotationMatrix;
class vpHomogeneousMatrix;
class vpTranslationVector;
class vpThetaUVector;


class VISP_EXPORT vpPoseVector : public vpColVector
{

 private:
  // initialize a size 6 vector
  void init() ;

 public:
  // constructor
  vpPoseVector() ;
  // constructor from 3 angles (in radian)
  vpPoseVector(const double tx, const double ty, const double tz,
           const double tux, const double tuy, const double tuz) ;
  // constructor convert an homogeneous matrix in a pose
  vpPoseVector(const vpHomogeneousMatrix& M) ;
  // constructor  convert a translation and a "thetau" vector into a pose
  vpPoseVector(const vpTranslationVector& t,
           const vpThetaUVector& tu) ;
  // constructor  convert a translation and a rotation matrix into a pose
  vpPoseVector(const vpTranslationVector& t,
           const vpRotationMatrix& R) ;
  

  // convert an homogeneous matrix in a pose
  vpPoseVector buildFrom(const vpHomogeneousMatrix& M) ;
  //  convert a translation and a "thetau" vector into a pose
  vpPoseVector buildFrom(const vpTranslationVector& t,
             const vpThetaUVector& tu) ;
  //  convert a translation and a rotation matrix into a pose
  vpPoseVector buildFrom(const vpTranslationVector& t,
             const vpRotationMatrix& R) ;
    

  inline double &operator [](unsigned int i) {  return *(data + i);  }
  inline const double &operator [](unsigned int i) const { return *(data+i);  }

  // Load an homogeneous matrix from a file
  void load(std::ifstream &f) ;
  // Save an homogeneous matrix in a file
  void save(std::ofstream &f) const ;

  // Print  a vector [T thetaU] thetaU in degree
  void print() ;
} ;

#endif

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