Visual Servoing Platform  version 3.2.1 under development (2019-05-26)
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(const double phi, const double theta, const double psi) : vpRotationVector(3)
62 {
63  buildFrom(phi, theta, psi);
64 }
65 
72 
80 
83 {
84  buildFrom(rzyz);
85 }
86 
88 vpRzyzVector::vpRzyzVector(const std::vector<double> &rzyz) : vpRotationVector(3)
89 {
90  buildFrom(rzyz);
91 }
92 
101 {
102  double phi;
103  if ((fabs(R[1][2]) < 1e-6) && (fabs(R[0][2]) < 1e-6))
104  phi = 0;
105  else
106  phi = atan2(R[1][2], R[0][2]);
107  double cphi = cos(phi);
108  double sphi = sin(phi);
109 
110  double theta = atan2(cphi * R[0][2] + sphi * R[1][2], R[2][2]);
111 
112  double psi = atan2(-sphi * R[0][0] + cphi * R[1][0], -sphi * R[0][1] + cphi * R[1][1]);
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 
138 {
139  if (rzyz.size() != 3) {
140  throw(vpException(vpException::dimensionError, "Cannot construct a R-zyz vector from a %d-dimension col vector",
141  rzyz.size()));
142  }
143  for (unsigned int i = 0; i < 3; i++)
144  data[i] = rzyz[i];
145 
146 
147  return *this;
148 }
149 
153 vpRzyzVector vpRzyzVector::buildFrom(const std::vector<double> &rzyz)
154 {
155  if (rzyz.size() != 3) {
156  throw(vpException(vpException::dimensionError, "Cannot construct a R-zyx vector from a %d-dimension std::vector",
157  rzyz.size()));
158  }
159  for (unsigned int i = 0; i < 3; i++)
160  data[i] = rzyz[i];
161 
162  return *this;
163 }
164 
185 {
186  for (unsigned int i = 0; i < dsize; i++)
187  data[i] = v;
188 
189  return *this;
190 }
191 
198 void vpRzyzVector::buildFrom(const double phi, const double theta, const double psi)
199 {
200  data[0] = phi;
201  data[1] = theta;
202  data[2] = psi;
203 }
204 
229 {
230  if (rzyz.size() != 3) {
231  throw(vpException(vpException::dimensionError, "Cannot set a R-zyz vector from a %d-dimension col vector",
232  rzyz.size()));
233  }
234  for (unsigned int i = 0; i < 3; i++)
235  data[i] = rzyz[i];
236 
237  return *this;
238 }
239 
240 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
241 
258 vpRzyzVector &vpRzyzVector::operator=(const std::initializer_list<double> &list)
259 {
260  if (list.size() > size()) {
261  throw(vpException(vpException::dimensionError, "Cannot set Euler x-y-z vector out of bounds. It has only %d values while you try to initialize with %d values", size(), list.size()));
262  }
263  std::copy(list.begin(), list.end(), data);
264  return *this;
265 }
266 #endif
Implementation of a generic rotation vector.
vpRzyzVector buildFrom(const vpRotationMatrix &R)
error that can be emited by ViSP classes.
Definition: vpException.h:71
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:141
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:182
Implementation of a rotation vector as axis-angle minimal representation.
vpRzyzVector & operator=(const vpColVector &rzyz)