37 #include <visp3/core/vpRzyzVector.h>
89 if ((fabs(R[1][2]) < 1e-6) && (fabs(R[0][2]) < 1e-6)) {
93 phi = atan2(R[1][2], R[0][2]);
95 double cphi = cos(phi);
96 double sphi = sin(phi);
98 double theta = atan2((cphi * R[0][2]) + (sphi * R[1][2]), R[2][2]);
100 double psi = atan2((-sphi * R[0][0]) + (cphi * R[1][0]), (-sphi * R[0][1]) + (cphi * R[1][1]));
127 if (rzyz.
size() != 3) {
131 for (
unsigned int i = 0; i < 3; ++i) {
143 if (rzyz.size() != 3) {
147 for (
unsigned int i = 0; i < 3; ++i) {
175 for (
unsigned int i = 0; i <
dsize; ++i) {
219 if (rzyz.
size() != 3) {
223 for (
unsigned int i = 0; i < 3; ++i) {
230 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
250 if (list.size() >
size()) {
253 "Cannot set Euler x-y-z vector out of bounds. It has only %d values while you try to initialize with %d values",
254 size(), list.size()));
256 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.
vpRzyzVector buildFrom(const vpRotationMatrix &R)
vpRzyzVector & operator=(const vpColVector &rzyz)
Implementation of a rotation vector as axis-angle minimal representation.