Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpRxyzVector.h
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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 #ifndef vpRxyzVECTOR_H
42 #define vpRxyzVECTOR_H
43 
53 #include <visp3/core/vpRotationMatrix.h>
54 #include <visp3/core/vpRotationVector.h>
55 
56 class vpRotationVector;
57 class vpRotationMatrix;
58 class vpThetaUVector;
59 
156 class VISP_EXPORT vpRxyzVector : public vpRotationVector
157 {
158 public:
159  vpRxyzVector();
160  vpRxyzVector(const vpRxyzVector &rxyz);
161  vpRxyzVector(const double phi, const double theta, const double psi);
162 
163  // initialize a Rxyz vector from a rotation matrix
164  explicit vpRxyzVector(const vpRotationMatrix &R);
165 
166  // initialize a Rxyz vector from a ThetaU vector
167  explicit vpRxyzVector(const vpThetaUVector &tu);
168  explicit vpRxyzVector(const vpColVector &rxyz);
169  explicit vpRxyzVector(const std::vector<double> &rxyz);
170 
172  virtual ~vpRxyzVector(){};
173 
174  // convert a rotation matrix into Rxyz vector
175  vpRxyzVector buildFrom(const vpRotationMatrix &R);
176 
177  // convert a ThetaU vector into a Rxyz vector
178  vpRxyzVector buildFrom(const vpThetaUVector &tu);
179  vpRxyzVector buildFrom(const vpColVector &rxyz);
180  vpRxyzVector buildFrom(const std::vector<double> &rxyz);
181 
182  void buildFrom(const double phi, const double theta, const double psi);
183 
184  vpRxyzVector &operator=(const vpColVector &rxyz);
185  vpRxyzVector &operator=(double x);
186 };
187 
188 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
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: vpRxyzVector.h:156
Implementation of a rotation vector as axis-angle minimal representation.
virtual ~vpRxyzVector()
Destructor.
Definition: vpRxyzVector.h:172