Visual Servoing Platform  version 3.1.0
vpRzyxVector.h
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10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
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13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Rzyx angle parameterization for the rotation.
33  * Rzyx(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(x,psi)
34  *
35  * Authors:
36  * Eric Marchand
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 
41 #ifndef vpRzyxVector_h
42 #define vpRzyxVector_h
43 
53 class vpRotationMatrix;
54 class vpThetaUVector;
55 
56 #include <visp3/core/vpRotationMatrix.h>
57 #include <visp3/core/vpRotationVector.h>
58 
158 class VISP_EXPORT vpRzyxVector : public vpRotationVector
159 {
160 public:
161  vpRzyxVector();
162  vpRzyxVector(const vpRzyxVector &rzyx);
163  vpRzyxVector(const double phi, const double theta, const double psi);
164 
165  // initialize a Rzyx vector from a rotation matrix
166  explicit vpRzyxVector(const vpRotationMatrix &R);
167 
168  // initialize a Rzyx vector from a ThetaU vector
169  explicit vpRzyxVector(const vpThetaUVector &tu);
170  explicit vpRzyxVector(const vpColVector &rzyx);
171 
173  virtual ~vpRzyxVector(){};
174 
175  // convert a rotation matrix into Rzyx vector
176  vpRzyxVector buildFrom(const vpRotationMatrix &R);
177 
178  // convert a ThetaU vector into a Rzyx vector
179  vpRzyxVector buildFrom(const vpThetaUVector &R);
180 
181  void buildFrom(const double phi, const double theta, const double psi);
182 
183  vpRzyxVector &operator=(const vpColVector &rzyx);
184  vpRzyxVector &operator=(double x);
185 };
186 
187 #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:158
Implementation of a rotation matrix and operations on such kind of matrices.
virtual ~vpRzyxVector()
Destructor.
Definition: vpRzyxVector.h:173
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
Implementation of a rotation vector as axis-angle minimal representation.