Visual Servoing Platform  version 3.6.1 under development (2024-06-15)
vpRxyzVector.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
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4  *
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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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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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 
44 #ifndef _vpRxyzVector_h_
45 #define _vpRxyzVector_h_
46 
47 #include <visp3/core/vpConfig.h>
48 #include <visp3/core/vpRotationMatrix.h>
49 #include <visp3/core/vpRotationVector.h>
50 
52 
53 class vpRotationVector;
54 class vpRotationMatrix;
55 class vpThetaUVector;
56 
178 class VISP_EXPORT vpRxyzVector : public vpRotationVector
179 {
180 public:
181  vpRxyzVector();
182  vpRxyzVector(const vpRxyzVector &rxyz);
183  vpRxyzVector(double phi, double theta, double psi);
184 
185  // initialize a Rxyz vector from a rotation matrix
186  explicit vpRxyzVector(const vpRotationMatrix &R);
187 
188  // initialize a Rxyz vector from a ThetaU vector
189  explicit vpRxyzVector(const vpThetaUVector &tu);
190  explicit vpRxyzVector(const vpColVector &rxyz);
191  explicit vpRxyzVector(const std::vector<double> &rxyz);
192 
193 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
194  // convert a rotation matrix into Rxyz vector
195  vp_deprecated vpRxyzVector buildFrom(const vpRotationMatrix &R);
196 
197  // convert a ThetaU vector into a Rxyz vector
198  vp_deprecated vpRxyzVector buildFrom(const vpThetaUVector &tu);
199  vp_deprecated vpRxyzVector buildFrom(const vpColVector &rxyz);
200  vp_deprecated vpRxyzVector buildFrom(const std::vector<double> &rxyz);
201 
202  vp_deprecated void buildFrom(double phi, double theta, double psi);
203 #endif
204  // convert a rotation matrix into Rxyz vector
205  vpRxyzVector &build(const vpRotationMatrix &R);
206 
207  // convert a ThetaU vector into a Rxyz vector
208  vpRxyzVector &build(const vpThetaUVector &tu);
209  vpRxyzVector &build(const vpColVector &rxyz);
210  vpRxyzVector &build(const std::vector<double> &rxyz);
211 
212  vpRxyzVector &build(const double &phi, const double &theta, const double &psi);
213 
214  vpRxyzVector &operator=(const vpColVector &rxyz);
215  vpRxyzVector &operator=(double x);
216 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
217  vpRxyzVector &operator=(const vpRxyzVector &) = default;
218  vpRxyzVector &operator=(const std::initializer_list<double> &list);
219 #endif
220 };
222 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a generic rotation vector.
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:179
vpRxyzVector & operator=(const vpRxyzVector &)=default
Implementation of a rotation vector as axis-angle minimal representation.