Visual Servoing Platform  version 3.6.1 under development (2024-11-11)
vpRxyzVector.cpp
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2  * ViSP, open source Visual Servoing Platform software.
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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14  * Edition License.
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19  * Inria Rennes - Bretagne Atlantique
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Rxyz angle parameterization for the rotation.
32  * Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
33  */
34 
41 #include <math.h>
42 
43 #include <visp3/core/vpRxyzVector.h>
44 
45 BEGIN_VISP_NAMESPACE
48 
51 
58 vpRxyzVector::vpRxyzVector(double phi, double theta, double psi) : vpRotationVector(3) { buildFrom(phi, theta, psi); }
59 
66 
74 
77 
79 vpRxyzVector::vpRxyzVector(const std::vector<double> &rxyz) : vpRotationVector(3) { buildFrom(rxyz); }
80 
89 {
90  double COEF_MIN_ROT = 1e-6;
91  double phi;
92  const unsigned int index_0 = 0;
93  const unsigned int index_1 = 1;
94  const unsigned int index_2 = 2;
95 
96  if ((fabs(R[index_1][index_2]) < COEF_MIN_ROT) && (fabs(R[index_2][index_2]) < COEF_MIN_ROT)) {
97  phi = 0;
98  }
99  else {
100  phi = atan2(-R[index_1][index_2], R[index_2][index_2]);
101  }
102 
103  double si = sin(phi);
104  double co = cos(phi);
105  double theta = atan2(R[index_0][index_2], (-si * R[index_1][index_2]) + (co * R[index_2][index_2]));
106  double psi = atan2((co * R[index_1][index_0]) + (si * R[index_2][index_0]), (co * R[index_1][index_1]) + (si * R[index_2][index_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 vpRxyzVector &vpRxyzVector::buildFrom(const double &phi, const double &theta, const double &psi)
135 {
136  const unsigned int index_0 = 0;
137  const unsigned int index_1 = 1;
138  const unsigned int index_2 = 2;
139  data[index_0] = phi;
140  data[index_1] = theta;
141  data[index_2] = psi;
142  return *this;
143 }
144 
149 {
150  if (rxyz.size() != 3) {
151  throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension col vector",
152  rxyz.size()));
153  }
154  const unsigned int val_3 = 3;
155  for (unsigned int i = 0; i < val_3; ++i) {
156  data[i] = rxyz[i];
157  }
158 
159  return *this;
160 }
161 
165 vpRxyzVector &vpRxyzVector::buildFrom(const std::vector<double> &rxyz)
166 {
167  if (rxyz.size() != 3) {
168  throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension std::vector",
169  rxyz.size()));
170  }
171  const unsigned int val_3 = 3;
172  for (unsigned int i = 0; i < val_3; ++i) {
173  data[i] = rxyz[i];
174  }
175 
176  return *this;
177 }
178 
203 {
204  for (unsigned int i = 0; i < dsize; ++i) {
205  data[i] = v;
206  }
207 
208  return *this;
209 }
210 
238 {
239  if (rxyz.size() != 3) {
240  throw(vpException(vpException::dimensionError, "Cannot set a R-xyz vector from a %d-dimension col vector",
241  rxyz.size()));
242  }
243  const unsigned int val_3 = 3;
244  for (unsigned int i = 0; i < val_3; ++i) {
245  data[i] = rxyz[i];
246  }
247 
248  return *this;
249 }
250 
251 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
273 vpRxyzVector &vpRxyzVector::operator=(const std::initializer_list<double> &list)
274 {
275  if (list.size() > size()) {
276  throw(vpException(
278  "Cannot set Euler x-y-z vector out of bounds. It has only %d values while you try to initialize with %d values",
279  size(), list.size()));
280  }
281  std::copy(list.begin(), list.end(), data);
282  return *this;
283 }
284 #endif
285 END_VISP_NAMESPACE
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:148
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:1107
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:349
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
error that can be emitted by ViSP classes.
Definition: vpException.h:60
@ dimensionError
Bad dimension.
Definition: vpException.h:71
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:183
vpRxyzVector & operator=(const vpColVector &rxyz)
vpRxyzVector & buildFrom(const vpRotationMatrix &R)
Implementation of a rotation vector as axis-angle minimal representation.