ViSP  2.8.0
vpRxyzVector.h
1 /****************************************************************************
2  *
3  * $Id: vpRxyzVector.h 4056 2013-01-05 13:04:42Z fspindle $
4  *
5  * This file is part of the ViSP software.
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12  * distribution for additional information about the GNU GPL.
13  *
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  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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  * Rxyz angle parameterization for the rotation.
36  * Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
37  *
38  * Authors:
39  * Eric Marchand
40  * Fabien Spindler
41  *
42  *****************************************************************************/
43 
44 
45 #ifndef vpRxyzVECTOR_H
46 #define vpRxyzVECTOR_H
47 
57 #include <visp/vpMatrix.h>
58 #include <visp/vpRotationVector.h>
59 #include <visp/vpRotationMatrix.h>
60 
61 class vpRotationMatrix;
62 class vpThetaUVector;
63 
152 class VISP_EXPORT vpRxyzVector : public vpRotationVector
153 {
154  friend class vpRotationMatrix;
155  friend class vpThetaUVector;
156 
157  public:
159  vpRxyzVector() { ; }
160 
161  // Copy constructor.
162  vpRxyzVector(const vpRxyzVector &m);
163 
170  vpRxyzVector(const double phi, const double theta, const double psi) :
171  vpRotationVector (3) { r[0]=phi;r[1]=theta;r[2]=psi; }
172 
173  // initialize a Rxyz vector from a rotation matrix
174  vpRxyzVector(const vpRotationMatrix& R) ;
175 
176  // initialize a Rxyz vector from a ThetaU vector
177  vpRxyzVector(const vpThetaUVector& tu) ;
178 
179  // Affectation of two vectors.
181 
188  void buildFrom(const double phi, const double theta, const double psi)
189  {
190  r[0] = phi ;
191  r[1] = theta ;
192  r[2] = psi ;
193  }
194 
195  // convert a rotation matrix into Rxyz vector
197 
198  // convert a ThetaU vector into a Rxyz vector
200 
201 } ;
202 
203 #endif
204 
205 /*
206  * Local variables:
207  * c-basic-offset: 2
208  * End:
209  */
Class that consider the case of a generic rotation vector (cannot be used as is !) consisting in thre...
vpRxyzVector()
Default constructor. Initialize the angles to zero.
Definition: vpRxyzVector.h:159
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
The vpRotationMatrix considers the particular case of a rotation matrix.
vpRxyzVector(const double phi, const double theta, const double psi)
Definition: vpRxyzVector.h:170
vpThetaUVector & operator=(const vpThetaUVector &tu)
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
Definition: vpRxyzVector.h:152
void buildFrom(const double phi, const double theta, const double psi)
Definition: vpRxyzVector.h:188
Class that consider the case of the parameterization for the rotation.