Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpRzyzVector.h
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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  explicit vpRzyzVector(const std::vector<double> &rzyz);
169 
171  virtual ~vpRzyzVector(){};
172 
173  // convert a rotation matrix into Rzyz vector
174  vpRzyzVector buildFrom(const vpRotationMatrix &R);
175 
176  // convert a ThetaU vector into a Rzyz vector
177  vpRzyzVector buildFrom(const vpThetaUVector &R);
178  vpRzyzVector buildFrom(const vpColVector &rxyz);
179  vpRzyzVector buildFrom(const std::vector<double> &rxyz);
180 
181  void buildFrom(const double phi, const double theta, const double psi);
182 
183  vpRzyzVector &operator=(const vpColVector &rzyz);
184  vpRzyzVector &operator=(double x);
185 };
186 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
virtual ~vpRzyzVector()
Destructor.
Definition: vpRzyzVector.h:171
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.