Visual Servoing Platform  version 3.6.1 under development (2023-11-30)
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 *****************************************************************************/
36 
37 #include <math.h>
38 
39 #include <visp3/core/vpRxyzVector.h>
40 
49 
52 
59 vpRxyzVector::vpRxyzVector(double phi, double theta, double psi) : vpRotationVector(3) { buildFrom(phi, theta, psi); }
60 
67 
75 
78 
80 vpRxyzVector::vpRxyzVector(const std::vector<double> &rxyz) : vpRotationVector(3) { buildFrom(rxyz); }
81 
90 {
91  double COEF_MIN_ROT = 1e-6;
92  double phi;
93 
94  if ((fabs(R[1][2]) < COEF_MIN_ROT) && (fabs(R[2][2]) < COEF_MIN_ROT))
95  phi = 0;
96  else
97  phi = atan2(-R[1][2], R[2][2]);
98 
99  double si = sin(phi);
100  double co = cos(phi);
101  double theta = atan2(R[0][2], -si * R[1][2] + co * R[2][2]);
102  double psi = atan2(co * R[1][0] + si * R[2][0], co * R[1][1] + si * R[2][1]);
103 
104  buildFrom(phi, theta, psi);
105 
106  return *this;
107 }
108 
116 {
118  R.buildFrom(tu);
119  buildFrom(R);
120 
121  return *this;
122 }
123 
130 void vpRxyzVector::buildFrom(double phi, double theta, double psi)
131 {
132  data[0] = phi;
133  data[1] = theta;
134  data[2] = psi;
135 }
136 
141 {
142  if (rxyz.size() != 3) {
143  throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension col vector",
144  rxyz.size()));
145  }
146  for (unsigned int i = 0; i < 3; i++)
147  data[i] = rxyz[i];
148 
149  return *this;
150 }
151 
155 vpRxyzVector vpRxyzVector::buildFrom(const std::vector<double> &rxyz)
156 {
157  if (rxyz.size() != 3) {
158  throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension std::vector",
159  rxyz.size()));
160  }
161  for (unsigned int i = 0; i < 3; i++)
162  data[i] = rxyz[i];
163 
164  return *this;
165 }
166 
187 {
188  for (unsigned int i = 0; i < dsize; i++)
189  data[i] = v;
190 
191  return *this;
192 }
193 
218 {
219  if (rxyz.size() != 3) {
220  throw(vpException(vpException::dimensionError, "Cannot set a R-xyz vector from a %d-dimension col vector",
221  rxyz.size()));
222  }
223  for (unsigned int i = 0; i < 3; i++)
224  data[i] = rxyz[i];
225 
226  return *this;
227 }
228 
246 vpRxyzVector &vpRxyzVector::operator=(const std::initializer_list<double> &list)
247 {
248  if (list.size() > size()) {
249  throw(vpException(
251  "Cannot set Euler x-y-z vector out of bounds. It has only %d values while you try to initialize with %d values",
252  size(), list.size()));
253  }
254  std::copy(list.begin(), list.end(), data);
255  return *this;
256 }
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:138
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:134
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:269
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ dimensionError
Bad dimension.
Definition: vpException.h:83
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:176
vpRxyzVector buildFrom(const vpRotationMatrix &R)
vpRxyzVector & operator=(const vpColVector &rxyz)
Implementation of a rotation vector as axis-angle minimal representation.