Visual Servoing Platform  version 3.5.1 under development (2022-12-04)
vpRzyxVector.cpp
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30  *
31  * Description:
32  * Rzyx angle parameterization for the rotation.
33  * Rzyx(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(x,psi)
34  *
35  * Authors:
36  * Eric Marchand
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 
41 #include <math.h>
42 #include <visp3/core/vpRzyxVector.h>
52 
55 
62 vpRzyxVector::vpRzyxVector(double phi, double theta, double psi) : vpRotationVector(3) { buildFrom(phi, theta, psi); }
63 
70 
78 
81 
83 vpRzyxVector::vpRzyxVector(const std::vector<double> &rzyx) : vpRotationVector(3) { buildFrom(rzyx); }
84 
96 {
97  double nx = R[0][0];
98  double ny = R[1][0];
99 
100  double phi = atan2(ny, nx);
101  double si = sin(phi);
102  double co = cos(phi);
103 
104  double nz = R[2][0];
105  double theta = atan2(-nz, co * nx + si * ny);
106 
107  double ax = R[0][2];
108  double ay = R[1][2];
109  double ox = R[0][1];
110  double oy = R[1][1];
111 
112  double psi = atan2(si * ax - co * ay, -si * ox + co * oy);
113 
114  buildFrom(phi, theta, psi);
115 
116  return *this;
117 }
118 
126 {
128  R.buildFrom(tu);
129  buildFrom(R);
130 
131  return *this;
132 }
133 
140 void vpRzyxVector::buildFrom(double phi, double theta, double psi)
141 {
142  data[0] = phi;
143  data[1] = theta;
144  data[2] = psi;
145 }
146 
151 {
152  if (rzyx.size() != 3) {
153  throw(vpException(vpException::dimensionError, "Cannot construct a R-zyx vector from a %d-dimension col vector",
154  rzyx.size()));
155  }
156  for (unsigned int i = 0; i < 3; i++)
157  data[i] = rzyx[i];
158 
159  return *this;
160 }
161 
165 vpRzyxVector vpRzyxVector::buildFrom(const std::vector<double> &rzyx)
166 {
167  if (rzyx.size() != 3) {
168  throw(vpException(vpException::dimensionError, "Cannot construct a R-zyx vector from a %d-dimension std::vector",
169  rzyx.size()));
170  }
171  for (unsigned int i = 0; i < 3; i++)
172  data[i] = rzyx[i];
173 
174  return *this;
175 }
176 
197 {
198  for (unsigned int i = 0; i < dsize; i++)
199  data[i] = v;
200 
201  return *this;
202 }
203 
228 {
229  if (rzyx.size() != 3) {
230  throw(vpException(vpException::dimensionError, "Cannot set a R-zyx vector from a %d-dimension col vector",
231  rzyx.size()));
232  }
233  for (unsigned int i = 0; i < 3; i++)
234  data[i] = rzyx[i];
235 
236  return *this;
237 }
238 
239 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
257 vpRzyxVector &vpRzyxVector::operator=(const std::initializer_list<double> &list)
258 {
259  if (list.size() > size()) {
260  throw(vpException(
262  "Cannot set Euler x-y-z vector out of bounds. It has only %d values while you try to initialize with %d values",
263  size(), list.size()));
264  }
265  std::copy(list.begin(), list.end(), data);
266  return *this;
267 }
268 #endif
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:141
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:293
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ dimensionError
Bad dimension.
Definition: vpException.h:95
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.
Definition: vpRzyxVector.h:186
vpRzyxVector & operator=(const vpColVector &rzyx)
vpRzyxVector buildFrom(const vpRotationMatrix &R)
Implementation of a rotation vector as axis-angle minimal representation.