Visual Servoing Platform  version 3.5.1 under development (2022-12-04)
vpRxyzVector.cpp
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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 #include <math.h>
42 
43 #include <visp3/core/vpRxyzVector.h>
44 
53 
56 
63 vpRxyzVector::vpRxyzVector(double phi, double theta, double psi) : vpRotationVector(3) { buildFrom(phi, theta, psi); }
64 
71 
79 
82 
84 vpRxyzVector::vpRxyzVector(const std::vector<double> &rxyz) : vpRotationVector(3) { buildFrom(rxyz); }
85 
94 {
95  double COEF_MIN_ROT = 1e-6;
96  double phi;
97 
98  if ((fabs(R[1][2]) < COEF_MIN_ROT) && (fabs(R[2][2]) < COEF_MIN_ROT))
99  phi = 0;
100  else
101  phi = atan2(-R[1][2], R[2][2]);
102 
103  double si = sin(phi);
104  double co = cos(phi);
105  double theta = atan2(R[0][2], -si * R[1][2] + co * R[2][2]);
106  double psi = atan2(co * R[1][0] + si * R[2][0], co * R[1][1] + si * R[2][1]);
107 
108  buildFrom(phi, theta, psi);
109 
110  return *this;
111 }
112 
120 {
122  R.buildFrom(tu);
123  buildFrom(R);
124 
125  return *this;
126 }
127 
134 void vpRxyzVector::buildFrom(double phi, double theta, double psi)
135 {
136  data[0] = phi;
137  data[1] = theta;
138  data[2] = psi;
139 }
140 
145 {
146  if (rxyz.size() != 3) {
147  throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension col vector",
148  rxyz.size()));
149  }
150  for (unsigned int i = 0; i < 3; i++)
151  data[i] = rxyz[i];
152 
153  return *this;
154 }
155 
159 vpRxyzVector vpRxyzVector::buildFrom(const std::vector<double> &rxyz)
160 {
161  if (rxyz.size() != 3) {
162  throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension std::vector",
163  rxyz.size()));
164  }
165  for (unsigned int i = 0; i < 3; i++)
166  data[i] = rxyz[i];
167 
168  return *this;
169 }
170 
191 {
192  for (unsigned int i = 0; i < dsize; i++)
193  data[i] = v;
194 
195  return *this;
196 }
197 
222 {
223  if (rxyz.size() != 3) {
224  throw(vpException(vpException::dimensionError, "Cannot set a R-xyz vector from a %d-dimension col vector",
225  rxyz.size()));
226  }
227  for (unsigned int i = 0; i < 3; i++)
228  data[i] = rxyz[i];
229 
230  return *this;
231 }
232 
233 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
251 vpRxyzVector &vpRxyzVector::operator=(const std::initializer_list<double> &list)
252 {
253  if (list.size() > size()) {
254  throw(vpException(
256  "Cannot set Euler x-y-z vector out of bounds. It has only %d values while you try to initialize with %d values",
257  size(), list.size()));
258  }
259  std::copy(list.begin(), list.end(), data);
260  return *this;
261 }
262 #endif
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:141
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:293
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ dimensionError
Bad dimension.
Definition: vpException.h:95
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Implementation of a generic rotation vector.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
vpRxyzVector buildFrom(const vpRotationMatrix &R)
vpRxyzVector & operator=(const vpColVector &rxyz)
Implementation of a rotation vector as axis-angle minimal representation.