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vpRxyzVector.h
1 /****************************************************************************
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Rxyz angle parameterization for the rotation.
32  * Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 
41 #ifndef vpRxyzVECTOR_H
42 #define vpRxyzVECTOR_H
43 
54 #include <visp3/core/vpRotationVector.h>
55 #include <visp3/core/vpRotationMatrix.h>
56 
57 class vpRotationVector;
58 class vpRotationMatrix;
59 class vpThetaUVector;
60 
154 class VISP_EXPORT vpRxyzVector : public vpRotationVector
155 {
156  public:
157  vpRxyzVector();
158  vpRxyzVector(const vpRxyzVector &rxyz);
159  vpRxyzVector(const double phi, const double theta, const double psi);
160 
161  // initialize a Rxyz vector from a rotation matrix
162  vpRxyzVector(const vpRotationMatrix& R) ;
163 
164  // initialize a Rxyz vector from a ThetaU vector
165  vpRxyzVector(const vpThetaUVector& tu) ;
166  vpRxyzVector(const vpColVector &rxyz);
167 
169  virtual ~vpRxyzVector() {};
170 
171  // convert a rotation matrix into Rxyz vector
172  vpRxyzVector buildFrom(const vpRotationMatrix& R) ;
173 
174  // convert a ThetaU vector into a Rxyz vector
175  vpRxyzVector buildFrom(const vpThetaUVector& tu) ;
176 
177  void buildFrom(const double phi, const double theta, const double psi);
178 
179  vpRxyzVector &operator=(const vpColVector &rxyz);
180  vpRxyzVector &operator=(double x) ;
181 } ;
182 
183 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:154
Implementation of a rotation vector as axis-angle minimal representation.
virtual ~vpRxyzVector()
Destructor.
Definition: vpRxyzVector.h:169