Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpRzyxVector.h
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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  explicit vpRzyxVector(const std::vector<double> &rzyx);
172 
174  virtual ~vpRzyxVector(){};
175 
176  // convert a rotation matrix into Rzyx vector
177  vpRzyxVector buildFrom(const vpRotationMatrix &R);
178 
179  // convert a ThetaU vector into a Rzyx vector
180  vpRzyxVector buildFrom(const vpThetaUVector &R);
181  vpRzyxVector buildFrom(const vpColVector &rxyz);
182  vpRzyxVector buildFrom(const std::vector<double> &rxyz);
183 
184  void buildFrom(const double phi, const double theta, const double psi);
185 
186  vpRzyxVector &operator=(const vpColVector &rzyx);
187  vpRzyxVector &operator=(double x);
188 };
189 
190 #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:174
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
Implementation of a rotation vector as axis-angle minimal representation.