Visual Servoing Platform  version 3.5.1 under development (2022-12-04)
vpRzyzVector.cpp
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30  *
31  * Description:
32  * Euler angles parameterization for the rotation.
33  * Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
34  *
35  * Authors:
36  * Eric Marchand
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 
41 #include <math.h>
42 #include <visp3/core/vpRzyzVector.h>
43 
54 
61 vpRzyzVector::vpRzyzVector(double phi, double theta, double psi) : vpRotationVector(3) { buildFrom(phi, theta, psi); }
62 
69 
77 
80 
82 vpRzyzVector::vpRzyzVector(const std::vector<double> &rzyz) : vpRotationVector(3) { buildFrom(rzyz); }
83 
92 {
93  double phi;
94  if ((fabs(R[1][2]) < 1e-6) && (fabs(R[0][2]) < 1e-6))
95  phi = 0;
96  else
97  phi = atan2(R[1][2], R[0][2]);
98  double cphi = cos(phi);
99  double sphi = sin(phi);
100 
101  double theta = atan2(cphi * R[0][2] + sphi * R[1][2], R[2][2]);
102 
103  double psi = atan2(-sphi * R[0][0] + cphi * R[1][0], -sphi * R[0][1] + cphi * R[1][1]);
104 
105  buildFrom(phi, theta, psi);
106 
107  return *this;
108 }
109 
117 {
119  R.buildFrom(tu);
120  buildFrom(R);
121 
122  return *this;
123 }
124 
129 {
130  if (rzyz.size() != 3) {
131  throw(vpException(vpException::dimensionError, "Cannot construct a R-zyz vector from a %d-dimension col vector",
132  rzyz.size()));
133  }
134  for (unsigned int i = 0; i < 3; i++)
135  data[i] = rzyz[i];
136 
137  return *this;
138 }
139 
143 vpRzyzVector vpRzyzVector::buildFrom(const std::vector<double> &rzyz)
144 {
145  if (rzyz.size() != 3) {
146  throw(vpException(vpException::dimensionError, "Cannot construct a R-zyx vector from a %d-dimension std::vector",
147  rzyz.size()));
148  }
149  for (unsigned int i = 0; i < 3; i++)
150  data[i] = rzyz[i];
151 
152  return *this;
153 }
154 
175 {
176  for (unsigned int i = 0; i < dsize; i++)
177  data[i] = v;
178 
179  return *this;
180 }
181 
188 void vpRzyzVector::buildFrom(double phi, double theta, double psi)
189 {
190  data[0] = phi;
191  data[1] = theta;
192  data[2] = psi;
193 }
194 
219 {
220  if (rzyz.size() != 3) {
221  throw(vpException(vpException::dimensionError, "Cannot set a R-zyz vector from a %d-dimension col vector",
222  rzyz.size()));
223  }
224  for (unsigned int i = 0; i < 3; i++)
225  data[i] = rzyz[i];
226 
227  return *this;
228 }
229 
230 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
248 vpRzyzVector &vpRzyzVector::operator=(const std::initializer_list<double> &list)
249 {
250  if (list.size() > size()) {
251  throw(vpException(
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()));
255  }
256  std::copy(list.begin(), list.end(), data);
257  return *this;
258 }
259 #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: vpRzyzVector.h:183
vpRzyzVector buildFrom(const vpRotationMatrix &R)
vpRzyzVector & operator=(const vpColVector &rzyz)
Implementation of a rotation vector as axis-angle minimal representation.