ViSP  2.8.0
vpThetaUVector.h
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3  * $Id: vpThetaUVector.h 4056 2013-01-05 13:04:42Z fspindle $
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32  *
33  *
34  * Description:
35  * Theta U parameterization for the rotation.
36  *
37  * Authors:
38  * Eric Marchand
39  *
40  *****************************************************************************/
41 
42 
43 #ifndef vpTHETAUVECTOR_H
44 #define vpTHETAUVECTOR_H
45 
53 class vpRotationMatrix;
54 class vpRzyxVector;
55 class vpRxyzVector;
56 class vpRzyzVector;
57 
58 #include <visp/vpRotationVector.h>
59 #include <visp/vpRotationMatrix.h>
60 #include <visp/vpHomogeneousMatrix.h>
61 #include <visp/vpRxyzVector.h>
62 #include <visp/vpRzyxVector.h>
63 
64 
140 class VISP_EXPORT vpThetaUVector : public vpRotationVector
141 {
142 
143 private:
145  void init() ;
146 
147  static const double minimum;
148 
149 public:
150 
151  // constructor
153  // copy constructor
154  vpThetaUVector(const vpThetaUVector &tu) ;
155 
156  // constructor initialize a Theta U vector from a homogeneous matrix
158  // constructor initialize a Theta U vector from a rotation matrix
159  vpThetaUVector(const vpRotationMatrix& R) ;
160  // constructor initialize a Theta U vector from a RzyxVector
161  vpThetaUVector(const vpRzyxVector& rzyx) ;
162  // constructor initialize a Theta U vector from a RzyzVector
163  vpThetaUVector(const vpRzyzVector& rzyz) ;
164  // constructor initialize a Theta U vector from a RxyzVector
165  vpThetaUVector(const vpRxyzVector& rxyz) ;
166 
170  vpThetaUVector(const double tux, const double tuy, const double tuz) :
171  vpRotationVector (3) { r[0]=tux;r[1]=tuy;r[2]=tuz; }
172 
173  // convert an homogeneous matrix into Theta U vector
174  vpThetaUVector buildFrom(const vpHomogeneousMatrix& M) ;
175  // convert a rotation matrix into Theta U vector
176  vpThetaUVector buildFrom(const vpRotationMatrix& R) ;
177  // convert an Rzyx vector into Theta U vector
178  vpThetaUVector buildFrom(const vpRzyxVector &rzyx) ;
179  // convert an Rzyz vector into Theta U vector
180  vpThetaUVector buildFrom(const vpRzyzVector &zyz) ;
181  // convert an Rxyz vector into Theta U vector
182  vpThetaUVector buildFrom(const vpRxyzVector &xyz) ;
183 
184  // copy operator
185  vpThetaUVector &operator=(const vpThetaUVector &tu);
186  vpThetaUVector &operator=(double x) ;
187 
188  // extract the angle and the axis from the ThetaU representation
189  void extract( double &theta, vpColVector &u) const;
190 } ;
191 
192 #endif
193 
194 /*
195  * Local variables:
196  * c-basic-offset: 2
197  * End:
198  */
199 
Class that consider the case of a generic rotation vector (cannot be used as is !) consisting in thre...
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Class that consider the case of the Euler angle using the z-y-x convention, where are respectively ...
Definition: vpRzyxVector.h:151
void init(const unsigned int size)
The vpRotationMatrix considers the particular case of a rotation matrix.
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
Definition: vpRxyzVector.h:152
Class that consider the case of the Euler angles using the z-y-z convention, where are respectively...
Definition: vpRzyzVector.h:150
Class that consider the case of the parameterization for the rotation.
vpThetaUVector(const double tux, const double tuy, const double tuz)