Visual Servoing Platform  version 3.1.0
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 modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
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.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Euler angles parameterization for the rotation.
33  * Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
34  *
35  * Authors:
36  * Eric Marchand
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 
41 #ifndef vpRzyzVector_h
42 #define vpRzyzVector_h
43 
52 class vpRotationMatrix;
53 class vpThetaUVector;
54 
55 #include <visp3/core/vpRotationMatrix.h>
56 #include <visp3/core/vpRotationVector.h>
57 
154 class VISP_EXPORT vpRzyzVector : public vpRotationVector
155 {
156 public:
157  vpRzyzVector();
158  vpRzyzVector(const vpRzyzVector &rzyz);
159 
160  // initialize a Rzyz vector from a rotation matrix
161  explicit vpRzyzVector(const vpRotationMatrix &R);
162 
163  // initialize a Rzyz vector from a ThetaU vector
164  explicit vpRzyzVector(const vpThetaUVector &tu);
165 
166  vpRzyzVector(const double phi, const double theta, const double psi);
167  explicit vpRzyzVector(const vpColVector &rzyz);
168 
170  virtual ~vpRzyzVector(){};
171 
172  // convert a rotation matrix into Rzyz vector
173  vpRzyzVector buildFrom(const vpRotationMatrix &R);
174 
175  // convert a ThetaU vector into a Rzyz vector
176  vpRzyzVector buildFrom(const vpThetaUVector &R);
177 
178  void buildFrom(const double phi, const double theta, const double psi);
179 
180  vpRzyzVector &operator=(const vpColVector &rzyz);
181  vpRzyzVector &operator=(double x);
182 };
183 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
virtual ~vpRzyzVector()
Destructor.
Definition: vpRzyzVector.h:170
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:154
Implementation of a rotation vector as axis-angle minimal representation.