Visual Servoing Platform  version 3.2.1 under development (2019-10-18) under development (2019-10-18)
vpRxyzVector.h
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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 #ifndef vpRxyzVECTOR_H
42 #define vpRxyzVECTOR_H
43 
53 #include <visp3/core/vpRotationMatrix.h>
54 #include <visp3/core/vpRotationVector.h>
55 
56 class vpRotationVector;
57 class vpRotationMatrix;
58 class vpThetaUVector;
59 
183 class VISP_EXPORT vpRxyzVector : public vpRotationVector
184 {
185 public:
186  vpRxyzVector();
187  vpRxyzVector(const vpRxyzVector &rxyz);
188  vpRxyzVector(const double phi, const double theta, const double psi);
189 
190  // initialize a Rxyz vector from a rotation matrix
191  explicit vpRxyzVector(const vpRotationMatrix &R);
192 
193  // initialize a Rxyz vector from a ThetaU vector
194  explicit vpRxyzVector(const vpThetaUVector &tu);
195  explicit vpRxyzVector(const vpColVector &rxyz);
196  explicit vpRxyzVector(const std::vector<double> &rxyz);
197 
199  virtual ~vpRxyzVector(){};
200 
201  // convert a rotation matrix into Rxyz vector
202  vpRxyzVector buildFrom(const vpRotationMatrix &R);
203 
204  // convert a ThetaU vector into a Rxyz vector
205  vpRxyzVector buildFrom(const vpThetaUVector &tu);
206  vpRxyzVector buildFrom(const vpColVector &rxyz);
207  vpRxyzVector buildFrom(const std::vector<double> &rxyz);
208 
209  void buildFrom(const double phi, const double theta, const double psi);
210 
211  vpRxyzVector &operator=(const vpColVector &rxyz);
212  vpRxyzVector &operator=(double x);
213 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
214  vpRxyzVector &operator=(const vpRxyzVector &rxyz) = default;
215  vpRxyzVector &operator=(const std::initializer_list<double> &list);
216 #endif
217 };
218 
219 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
Implementation of a rotation vector as axis-angle minimal representation.
virtual ~vpRxyzVector()
Destructor.
Definition: vpRxyzVector.h:199