38 #include <visp3/core/vpRzyxVector.h>
96 double COEF_MIN_ROT = 1e-6;
99 if ((fabs(nx) < COEF_MIN_ROT) && (fabs(ny) < COEF_MIN_ROT)) {
105 double si = sin(phi);
106 double co = cos(phi);
109 double theta = atan2(-nz, (co * nx) + (si * ny));
116 double psi = atan2((si * ax) - (co * ay), (-si * ox) + (co * oy));
156 if (rzyx.
size() != 3) {
160 for (
unsigned int i = 0; i < 3; ++i) {
172 if (rzyx.size() != 3) {
176 for (
unsigned int i = 0; i < 3; ++i) {
204 for (
unsigned int i = 0; i <
dsize; ++i) {
235 if (rzyx.
size() != 3) {
239 for (
unsigned int i = 0; i < 3; ++i) {
246 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
266 if (list.size() >
size()) {
269 "Cannot set Euler x-y-z vector out of bounds. It has only %d values while you try to initialize with %d values",
270 size(), list.size()));
272 std::copy(list.begin(), list.end(),
data);
double * data
Address of the first element of the data array.
unsigned int dsize
Current array size (rowNum * colNum)
unsigned int size() const
Return the number of elements of the 2D array.
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
@ dimensionError
Bad dimension.
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.
vpRzyxVector & operator=(const vpColVector &rzyx)
vpRzyxVector buildFrom(const vpRotationMatrix &R)
Implementation of a rotation vector as axis-angle minimal representation.