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vpRzyzVector.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  * Euler angles parameterization for the rotation.
32  * Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 
41 #ifndef vpRzyzVector_h
42 #define vpRzyzVector_h
43 
52 class vpRotationMatrix;
53 class vpThetaUVector;
54 
55 #include <visp3/core/vpRotationVector.h>
56 #include <visp3/core/vpRotationMatrix.h>
57 
151 class VISP_EXPORT vpRzyzVector : public vpRotationVector
152 {
153  public:
154  vpRzyzVector();
155  vpRzyzVector(const vpRzyzVector &rzyz);
156 
157  // initialize a Rzyz vector from a rotation matrix
158  vpRzyzVector(const vpRotationMatrix& R);
159 
160  // initialize a Rzyz vector from a ThetaU vector
161  vpRzyzVector(const vpThetaUVector& tu);
162 
163  vpRzyzVector(const double phi, const double theta, const double psi);
164  vpRzyzVector(const vpColVector &rzyz);
165 
167  virtual ~vpRzyzVector() {};
168 
169  // convert a rotation matrix into Rzyz vector
170  vpRzyzVector buildFrom(const vpRotationMatrix& R) ;
171 
172  // convert a ThetaU vector into a Rzyz vector
173  vpRzyzVector buildFrom(const vpThetaUVector& R) ;
174 
175  void buildFrom(const double phi, const double theta, const double psi);
176 
177  vpRzyzVector &operator=(const vpColVector &rzyz);
178  vpRzyzVector &operator=(double x);
179 } ;
180 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
virtual ~vpRzyzVector()
Destructor.
Definition: vpRzyzVector.h:167
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: vpRzyzVector.h:151
Implementation of a rotation vector as axis-angle minimal representation.