vpRzyxVector.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Rzyx angle parameterization for the rotation.
 * Rzyx(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(x,psi)
 */
 
#ifndef VP_RZYX_VECTOR_H
#define VP_RZYX_VECTOR_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRotationVector.h>
 
BEGIN_VISP_NAMESPACE
 
class vpRotationMatrix;
class vpThetaUVector;
 
class VISP_EXPORT vpRzyxVector : public vpRotationVector
{
public:
  vpRzyxVector();
  vpRzyxVector(const vpRzyxVector &rzyx);
  vpRzyxVector(double phi, double theta, double psi);
 
  // initialize a Rzyx vector from a rotation matrix
  VP_EXPLICIT vpRzyxVector(const vpRotationMatrix &R);
 
  // initialize a Rzyx vector from a ThetaU vector
  VP_EXPLICIT vpRzyxVector(const vpThetaUVector &tu);
  VP_EXPLICIT vpRzyxVector(const vpColVector &rzyx);
  VP_EXPLICIT vpRzyxVector(const std::vector<double> &rzyx);
 
  // convert a rotation matrix into Rzyx vector
  vpRzyxVector &buildFrom(const vpRotationMatrix &R);
 
  // convert a ThetaU vector into a Rzyx vector
  vpRzyxVector &buildFrom(const vpThetaUVector &R);
  vpRzyxVector &buildFrom(const vpColVector &rxyz);
  vpRzyxVector &buildFrom(const std::vector<double> &rxyz);
 
  vpRzyxVector &buildFrom(const double &phi, const double &theta, const double &psi);
 
  vpRzyxVector &operator=(const vpColVector &rzyx);
  vpRzyxVector &operator=(double x);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpRzyxVector &operator=(const vpRzyxVector &) = default;
  vpRzyxVector &operator=(const std::initializer_list<double> &list);
#endif
private:
  static const unsigned int constr_val_3;
};
END_VISP_NAMESPACE
#endif