Visual Servoing Platform  version 3.6.1 under development (2024-03-28)
vpRzyzVector.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
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8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Euler angles parameterization for the rotation.
32  * Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
33  */
34 
35 #ifndef _vpRzyzVector_h_
36 #define _vpRzyzVector_h_
37 
46 class vpRotationMatrix;
47 class vpThetaUVector;
48 
49 #include <visp3/core/vpRotationMatrix.h>
50 #include <visp3/core/vpRotationVector.h>
51 
174 class VISP_EXPORT vpRzyzVector : public vpRotationVector
175 {
176 public:
177  vpRzyzVector();
178  vpRzyzVector(const vpRzyzVector &rzyz);
179 
180  // initialize a Rzyz vector from a rotation matrix
181  explicit vpRzyzVector(const vpRotationMatrix &R);
182 
183  // initialize a Rzyz vector from a ThetaU vector
184  explicit vpRzyzVector(const vpThetaUVector &tu);
185 
186  vpRzyzVector(double phi, double theta, double psi);
187  explicit vpRzyzVector(const vpColVector &rzyz);
188  explicit vpRzyzVector(const std::vector<double> &rzyz);
189 
190  // convert a rotation matrix into Rzyz vector
191  vpRzyzVector buildFrom(const vpRotationMatrix &R);
192 
193  // convert a ThetaU vector into a Rzyz vector
194  vpRzyzVector buildFrom(const vpThetaUVector &R);
195  vpRzyzVector buildFrom(const vpColVector &rxyz);
196  vpRzyzVector buildFrom(const std::vector<double> &rxyz);
197 
198  void buildFrom(double phi, double theta, double psi);
199 
200  vpRzyzVector &operator=(const vpColVector &rzyz);
201  vpRzyzVector &operator=(double x);
202 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
203  vpRzyzVector &operator=(const vpRzyzVector &) = default;
204  vpRzyzVector &operator=(const std::initializer_list<double> &list);
205 #endif
206 };
207 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a generic rotation vector.
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:175
vpRzyzVector & operator=(const vpRzyzVector &)=default
Implementation of a rotation vector as axis-angle minimal representation.