Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpRxyzVector.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
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5  * This software is free software; you can redistribute it and/or modify
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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 
175 class VISP_EXPORT vpRxyzVector : public vpRotationVector
176 {
177 public:
178  vpRxyzVector();
179  vpRxyzVector(const vpRxyzVector &rxyz);
180  vpRxyzVector(double phi, double theta, double psi);
181 
182  // initialize a Rxyz vector from a rotation matrix
183  explicit vpRxyzVector(const vpRotationMatrix &R);
184 
185  // initialize a Rxyz vector from a ThetaU vector
186  explicit vpRxyzVector(const vpThetaUVector &tu);
187  explicit vpRxyzVector(const vpColVector &rxyz);
188  explicit vpRxyzVector(const std::vector<double> &rxyz);
189 
190  // convert a rotation matrix into Rxyz vector
191  vpRxyzVector buildFrom(const vpRotationMatrix &R);
192 
193  // convert a ThetaU vector into a Rxyz vector
194  vpRxyzVector buildFrom(const vpThetaUVector &tu);
195  vpRxyzVector buildFrom(const vpColVector &rxyz);
196  vpRxyzVector buildFrom(const std::vector<double> &rxyz);
197 
198  void buildFrom(double phi, double theta, double psi);
199 
200  vpRxyzVector &operator=(const vpColVector &rxyz);
201  vpRxyzVector &operator=(double x);
202 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
203  vpRxyzVector &operator=(const vpRxyzVector &rxyz) = default;
204  vpRxyzVector &operator=(const std::initializer_list<double> &list);
205 #endif
206 };
207 
208 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
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:176
vpRxyzVector & operator=(const vpRxyzVector &rxyz)=default
Implementation of a rotation vector as axis-angle minimal representation.