Visual Servoing Platform  version 3.6.0 under development (2023-09-25)
vpRxyzVector.h
1 /*
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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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
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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 
35 #ifndef _vpRxyzVector_h_
36 #define _vpRxyzVector_h_
37 
47 #include <visp3/core/vpRotationMatrix.h>
48 #include <visp3/core/vpRotationVector.h>
49 
50 class vpRotationVector;
51 class vpRotationMatrix;
52 class vpThetaUVector;
53 
177 class VISP_EXPORT vpRxyzVector : public vpRotationVector
178 {
179 public:
180  vpRxyzVector();
181  vpRxyzVector(const vpRxyzVector &rxyz);
182  vpRxyzVector(double phi, double theta, double psi);
183 
184  // initialize a Rxyz vector from a rotation matrix
185  explicit vpRxyzVector(const vpRotationMatrix &R);
186 
187  // initialize a Rxyz vector from a ThetaU vector
188  explicit vpRxyzVector(const vpThetaUVector &tu);
189  explicit vpRxyzVector(const vpColVector &rxyz);
190  explicit vpRxyzVector(const std::vector<double> &rxyz);
191 
193  virtual ~vpRxyzVector(){}
194 
195  // convert a rotation matrix into Rxyz vector
196  vpRxyzVector buildFrom(const vpRotationMatrix &R);
197 
198  // convert a ThetaU vector into a Rxyz vector
199  vpRxyzVector buildFrom(const vpThetaUVector &tu);
200  vpRxyzVector buildFrom(const vpColVector &rxyz);
201  vpRxyzVector buildFrom(const std::vector<double> &rxyz);
202 
203  void buildFrom(double phi, double theta, double psi);
204 
205  vpRxyzVector &operator=(const vpColVector &rxyz);
206  vpRxyzVector &operator=(double x);
207 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
208  vpRxyzVector &operator=(const vpRxyzVector &rxyz) = default;
209  vpRxyzVector &operator=(const std::initializer_list<double> &list);
210 #endif
211 };
212 
213 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:167
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:178
vpRxyzVector & operator=(const vpRxyzVector &rxyz)=default
virtual ~vpRxyzVector()
Destructor.
Definition: vpRxyzVector.h:193
Implementation of a rotation vector as axis-angle minimal representation.