Visual Servoing Platform  version 3.2.1 under development (2019-10-18) under development (2019-10-18)
vpRzyzVector.h
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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 #ifndef vpRzyzVector_h
42 #define vpRzyzVector_h
43 
52 class vpRotationMatrix;
53 class vpThetaUVector;
54 
55 #include <visp3/core/vpRotationMatrix.h>
56 #include <visp3/core/vpRotationVector.h>
57 
182 class VISP_EXPORT vpRzyzVector : public vpRotationVector
183 {
184 public:
185  vpRzyzVector();
186  vpRzyzVector(const vpRzyzVector &rzyz);
187 
188  // initialize a Rzyz vector from a rotation matrix
189  explicit vpRzyzVector(const vpRotationMatrix &R);
190 
191  // initialize a Rzyz vector from a ThetaU vector
192  explicit vpRzyzVector(const vpThetaUVector &tu);
193 
194  vpRzyzVector(const double phi, const double theta, const double psi);
195  explicit vpRzyzVector(const vpColVector &rzyz);
196  explicit vpRzyzVector(const std::vector<double> &rzyz);
197 
199  virtual ~vpRzyzVector(){};
200 
201  // convert a rotation matrix into Rzyz vector
202  vpRzyzVector buildFrom(const vpRotationMatrix &R);
203 
204  // convert a ThetaU vector into a Rzyz vector
205  vpRzyzVector buildFrom(const vpThetaUVector &R);
206  vpRzyzVector buildFrom(const vpColVector &rxyz);
207  vpRzyzVector buildFrom(const std::vector<double> &rxyz);
208 
209  void buildFrom(const double phi, const double theta, const double psi);
210 
211  vpRzyzVector &operator=(const vpColVector &rzyz);
212  vpRzyzVector &operator=(double x);
213 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
214  vpRzyzVector &operator=(const vpRzyzVector &rzyz) = default;
215  vpRzyzVector &operator=(const std::initializer_list<double> &list);
216 #endif
217 };
218 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
virtual ~vpRzyzVector()
Destructor.
Definition: vpRzyzVector.h:199
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:182
Implementation of a rotation vector as axis-angle minimal representation.