Visual Servoing Platform  version 3.1.0
vpRxyzVector.cpp
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30  *
31  * Description:
32  * Rxyz angle parameterization for the rotation.
33  * Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
34  *
35  * Authors:
36  * Eric Marchand
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 
41 #include <math.h>
42 
43 #include <visp3/core/vpRxyzVector.h>
44 
53 
56 
63 vpRxyzVector::vpRxyzVector(const double phi, const double theta, const double psi) : vpRotationVector(3)
64 {
65  buildFrom(phi, theta, psi);
66 }
67 
74 
82 
85 {
86  if (rxyz.size() != 3) {
87  throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension col vector",
88  rxyz.size()));
89  }
90  for (unsigned int i = 0; i < 3; i++)
91  data[i] = rxyz[i];
92 }
93 
102 {
103  double COEF_MIN_ROT = 1e-6;
104  double phi;
105 
106  if ((fabs(R[1][2]) < COEF_MIN_ROT) && (fabs(R[2][2]) < COEF_MIN_ROT))
107  phi = 0;
108  else
109  phi = atan2(-R[1][2], R[2][2]);
110 
111  double si = sin(phi);
112  double co = cos(phi);
113  double theta = atan2(R[0][2], -si * R[1][2] + co * R[2][2]);
114  double psi = atan2(co * R[1][0] + si * R[2][0], co * R[1][1] + si * R[2][1]);
115 
116  buildFrom(phi, theta, psi);
117 
118  return *this;
119 }
120 
128 {
130  R.buildFrom(tu);
131  buildFrom(R);
132 
133  return *this;
134 }
135 
142 void vpRxyzVector::buildFrom(const double phi, const double theta, const double psi)
143 {
144  data[0] = phi;
145  data[1] = theta;
146  data[2] = psi;
147 }
148 
169 {
170  for (unsigned int i = 0; i < dsize; i++)
171  data[i] = v;
172 
173  return *this;
174 }
175 
200 {
201  if (rxyz.size() != 3) {
202  throw(vpException(vpException::dimensionError, "Cannot set a R-xyz vector from a %d-dimension col vector",
203  rxyz.size()));
204  }
205  for (unsigned int i = 0; i < 3; i++)
206  data[i] = rxyz[i];
207 
208  return *this;
209 }
vpRxyzVector & operator=(const vpColVector &rxyz)
Implementation of a generic rotation vector.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
error that can be emited by ViSP classes.
Definition: vpException.h:71
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:84
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:158
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
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:156
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:80
Implementation of a rotation vector as axis-angle minimal representation.