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vpRzyxVector.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
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.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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25  * Inria at visp@inria.fr
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Rzyx angle parameterization for the rotation.
32  * Rzyx(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(x,psi)
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpRzyxVector_h
41 #define vpRzyxVector_h
42 
52 class vpRotationMatrix;
53 class vpThetaUVector;
54 
55 #include <visp3/core/vpRotationMatrix.h>
56 #include <visp3/core/vpRotationVector.h>
57 
152 class VISP_EXPORT vpRzyxVector : public vpRotationVector
153 {
154 public:
155  vpRzyxVector();
156  vpRzyxVector(const vpRzyxVector &rzyx);
157  vpRzyxVector(const double phi, const double theta, const double psi);
158 
159  // initialize a Rzyx vector from a rotation matrix
160  vpRzyxVector(const vpRotationMatrix& R) ;
161 
162  // initialize a Rzyx vector from a ThetaU vector
163  vpRzyxVector(const vpThetaUVector& tu) ;
164  vpRzyxVector(const vpColVector &rzyx);
165 
167  virtual ~vpRzyxVector() {};
168 
169  // convert a rotation matrix into Rzyx vector
170  vpRzyxVector buildFrom(const vpRotationMatrix& R) ;
171 
172  // convert a ThetaU vector into a Rzyx vector
173  vpRzyxVector buildFrom(const vpThetaUVector& R) ;
174 
175  void buildFrom(const double phi, const double theta, const double psi);
176 
177  vpRzyxVector &operator=(const vpColVector &rzyx);
178  vpRzyxVector &operator=(double x) ;
179 } ;
180 
181 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyxVector.h:152
Implementation of a rotation matrix and operations on such kind of matrices.
virtual ~vpRzyxVector()
Destructor.
Definition: vpRzyxVector.h:167
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
Implementation of a rotation vector as axis-angle minimal representation.