Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpThetaUVector.h
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29  *
30  * Description:
31  * Theta U parameterization for the rotation.
32  */
33 
34 #ifndef _vpThetaUVector_h_
35 #define _vpThetaUVector_h_
36 
44 class vpRotationMatrix;
45 class vpPoseVector;
46 class vpRzyxVector;
47 class vpRxyzVector;
48 class vpRzyzVector;
49 class vpColVector;
50 class vpRotationVector;
51 class vpQuaternionVector;
52 
53 #include <visp3/core/vpColVector.h>
54 #include <visp3/core/vpHomogeneousMatrix.h>
55 #include <visp3/core/vpQuaternionVector.h>
56 #include <visp3/core/vpRotationMatrix.h>
57 #include <visp3/core/vpRotationVector.h>
58 #include <visp3/core/vpRxyzVector.h>
59 #include <visp3/core/vpRzyxVector.h>
60 
165 class VISP_EXPORT vpThetaUVector : public vpRotationVector
166 {
167 private:
168  static const double minimum;
169 
170 public:
171  vpThetaUVector();
172  vpThetaUVector(const vpThetaUVector &tu);
173 
174  // constructor initialize a Theta U vector from a homogeneous matrix
175  explicit vpThetaUVector(const vpHomogeneousMatrix &M);
176  // constructor initialize a Theta U vector from a pose vector
177  explicit vpThetaUVector(const vpPoseVector &p);
178  // constructor initialize a Theta U vector from a rotation matrix
179  explicit vpThetaUVector(const vpRotationMatrix &R);
180  // constructor initialize a Theta U vector from a RzyxVector
181  explicit vpThetaUVector(const vpRzyxVector &rzyx);
182  // constructor initialize a Theta U vector from a RzyzVector
183  explicit vpThetaUVector(const vpRzyzVector &rzyz);
184  // constructor initialize a Theta U vector from a RxyzVector
185  explicit vpThetaUVector(const vpRxyzVector &rxyz);
186  explicit vpThetaUVector(const vpQuaternionVector &q);
187  explicit vpThetaUVector(const vpColVector &tu);
188  explicit vpThetaUVector(const std::vector<double> &tu);
189 
190  vpThetaUVector(double tux, double tuy, double tuz);
191 
192  // convert an homogeneous matrix into Theta U vector
193  vpThetaUVector buildFrom(const vpHomogeneousMatrix &M);
194  // convert a pose vector into Theta U vector
195  vpThetaUVector buildFrom(const vpPoseVector &p);
196  // convert a rotation matrix into Theta U vector
197  vpThetaUVector buildFrom(const vpRotationMatrix &R);
198  // convert an Rzyx vector into Theta U vector
199  vpThetaUVector buildFrom(const vpRzyxVector &rzyx);
200  // convert an Rzyz vector into Theta U vector
201  vpThetaUVector buildFrom(const vpRzyzVector &zyz);
202  // convert an Rxyz vector into Theta U vector
203  vpThetaUVector buildFrom(const vpRxyzVector &xyz);
204  vpThetaUVector buildFrom(const vpQuaternionVector &q);
205  vpThetaUVector buildFrom(const vpColVector &tu);
206  vpThetaUVector buildFrom(const std::vector<double> &tu);
207 
208  void buildFrom(double tux, double tuy, double tuz);
209 
210  // extract the angle and the axis from the ThetaU representation
211  void extract(double &theta, vpColVector &u) const;
212  double getTheta() const;
213  vpColVector getU() const;
214 
216  vpThetaUVector &operator=(double x);
217  vpThetaUVector operator*(const vpThetaUVector &tu_b) const;
218 
219 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
220  vpThetaUVector &operator=(const std::initializer_list<double> &list);
221 #endif
222 };
223 
224 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:189
Implementation of a rotation vector as quaternion angle minimal representation.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a generic rotation vector.
vpRotationVector & operator=(const vpRotationVector &v)
vpColVector operator*(double x) const
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyxVector.h:177
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:175
Implementation of a rotation vector as axis-angle minimal representation.