vpThetaUVector.h

/****************************************************************************
 *
 * $Id: vpThetaUVector.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:
 * Theta U parameterization for the rotation.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#ifndef vpTHETAUVECTOR_H
#define vpTHETAUVECTOR_H

class vpHomogeneousMatrix;
class vpRotationMatrix;
class vpRzyxVector;
class vpRxyzVector;
class vpRzyzVector;

#include <visp/vpRotationVector.h>
#include <visp/vpRotationMatrix.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRxyzVector.h>
#include <visp/vpRzyxVector.h>


class VISP_EXPORT vpThetaUVector : public vpRotationVector
{

private:
  void init() ;

  static const double minimum;

public:

  // constructor
  vpThetaUVector() { ; }
  // copy constructor
  vpThetaUVector(const vpThetaUVector &tu) ;

  // constructor initialize a Theta U vector from a homogeneous matrix
  vpThetaUVector(const vpHomogeneousMatrix & M) ;
  // constructor initialize a Theta U vector from a rotation matrix
  vpThetaUVector(const vpRotationMatrix& R) ;
  // constructor initialize a Theta U vector from a RzyxVector
  vpThetaUVector(const vpRzyxVector& rzyx) ;
  // constructor initialize a Theta U vector from a RzyzVector
  vpThetaUVector(const vpRzyzVector& rzyz) ;
  // constructor initialize a Theta U vector from a RxyzVector
  vpThetaUVector(const vpRxyzVector& rxyz) ;

  vpThetaUVector(const double tux, const double tuy, const double tuz) :
    vpRotationVector (3) { r[0]=tux;r[1]=tuy;r[2]=tuz; }

  // convert an homogeneous matrix into Theta U vector
  vpThetaUVector buildFrom(const vpHomogeneousMatrix& M) ;
  // convert a rotation matrix into Theta U vector
  vpThetaUVector buildFrom(const vpRotationMatrix& R) ;
  // convert an Rzyx vector into Theta U vector
  vpThetaUVector buildFrom(const vpRzyxVector &rzyx) ;
  // convert an Rzyz vector into Theta U vector
  vpThetaUVector buildFrom(const vpRzyzVector &zyz) ;
  // convert an Rxyz vector into Theta U vector
  vpThetaUVector buildFrom(const vpRxyzVector &xyz) ;

  // copy operator
  vpThetaUVector &operator=(const vpThetaUVector &tu);
  vpThetaUVector &operator=(double x) ;

  // extract the angle and the axis from the ThetaU representation
  void extract( double &theta, vpColVector &u) const;
} ;

#endif

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