Visual Servoing Platform  version 3.3.1 under development (2020-09-18)
vpRzyxVector.h
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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 #ifndef vpRzyxVector_h
42 #define vpRzyxVector_h
43 
53 class vpRotationMatrix;
54 class vpThetaUVector;
55 
56 #include <visp3/core/vpRotationMatrix.h>
57 #include <visp3/core/vpRotationVector.h>
58 
185 class VISP_EXPORT vpRzyxVector : public vpRotationVector
186 {
187 public:
188  vpRzyxVector();
189  vpRzyxVector(const vpRzyxVector &rzyx);
190  vpRzyxVector(double phi, double theta, double psi);
191 
192  // initialize a Rzyx vector from a rotation matrix
193  explicit vpRzyxVector(const vpRotationMatrix &R);
194 
195  // initialize a Rzyx vector from a ThetaU vector
196  explicit vpRzyxVector(const vpThetaUVector &tu);
197  explicit vpRzyxVector(const vpColVector &rzyx);
198  explicit vpRzyxVector(const std::vector<double> &rzyx);
199 
201  virtual ~vpRzyxVector(){};
202 
203  // convert a rotation matrix into Rzyx vector
204  vpRzyxVector buildFrom(const vpRotationMatrix &R);
205 
206  // convert a ThetaU vector into a Rzyx vector
207  vpRzyxVector buildFrom(const vpThetaUVector &R);
208  vpRzyxVector buildFrom(const vpColVector &rxyz);
209  vpRzyxVector buildFrom(const std::vector<double> &rxyz);
210 
211  void buildFrom(double phi, double theta, double psi);
212 
213  vpRzyxVector &operator=(const vpColVector &rzyx);
214  vpRzyxVector &operator=(double x);
215 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
216  vpRzyxVector &operator=(const vpRzyxVector &rzyx) = default;
217  vpRzyxVector &operator=(const std::initializer_list<double> &list);
218 #endif
219 };
220 
221 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyxVector.h:185
Implementation of a rotation matrix and operations on such kind of matrices.
virtual ~vpRzyxVector()
Destructor.
Definition: vpRzyxVector.h:201
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a rotation vector as axis-angle minimal representation.