vpThetaUVector.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 vpPoseVector;
class vpRzyxVector;
class vpRxyzVector;
class vpRzyzVector;
class vpColVector;
class vpRotationVector;
class vpQuaternionVector;

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpRzyxVector.h>
#include <visp3/core/vpQuaternionVector.h>


class VISP_EXPORT vpThetaUVector : public vpRotationVector
{
private:

  static const double minimum;

public:
  vpThetaUVector();
  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 pose vector
  vpThetaUVector(const vpPoseVector & p) ;
  // 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 vpQuaternionVector& q) ;

  vpThetaUVector(const double tux, const double tuy, const double tuz);
  vpThetaUVector(const vpColVector &tu);
  virtual ~vpThetaUVector() {};

  // convert an homogeneous matrix into Theta U vector
  vpThetaUVector buildFrom(const vpHomogeneousMatrix& M) ;
  // convert a pose vector into Theta U vector
  vpThetaUVector buildFrom(const vpPoseVector& p) ;
  // 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) ;
  vpThetaUVector buildFrom(const vpQuaternionVector &q) ;

  void buildFrom(const double tux, const double tuy, const double tuz);

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

  vpThetaUVector &operator=(const vpColVector &tu);
  vpThetaUVector &operator=(double x) ;
} ;

#endif