Visual Servoing Platform  version 3.2.1 under development (2019-12-07)
vpThetaUVector.h
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30  *
31  * Description:
32  * Theta U parameterization for the rotation.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpTHETAUVECTOR_H
40 #define vpTHETAUVECTOR_H
41 
49 class vpRotationMatrix;
50 class vpPoseVector;
51 class vpRzyxVector;
52 class vpRxyzVector;
53 class vpRzyzVector;
54 class vpColVector;
55 class vpRotationVector;
56 class vpQuaternionVector;
57 
58 #include <visp3/core/vpColVector.h>
59 #include <visp3/core/vpHomogeneousMatrix.h>
60 #include <visp3/core/vpQuaternionVector.h>
61 #include <visp3/core/vpRotationMatrix.h>
62 #include <visp3/core/vpRotationVector.h>
63 #include <visp3/core/vpRxyzVector.h>
64 #include <visp3/core/vpRzyxVector.h>
65 
172 class VISP_EXPORT vpThetaUVector : public vpRotationVector
173 {
174 private:
175  static const double minimum;
176 
177 public:
178  vpThetaUVector();
179  vpThetaUVector(const vpThetaUVector &tu);
180 
181  // constructor initialize a Theta U vector from a homogeneous matrix
182  explicit vpThetaUVector(const vpHomogeneousMatrix &M);
183  // constructor initialize a Theta U vector from a pose vector
184  explicit vpThetaUVector(const vpPoseVector &p);
185  // constructor initialize a Theta U vector from a rotation matrix
186  explicit vpThetaUVector(const vpRotationMatrix &R);
187  // constructor initialize a Theta U vector from a RzyxVector
188  explicit vpThetaUVector(const vpRzyxVector &rzyx);
189  // constructor initialize a Theta U vector from a RzyzVector
190  explicit vpThetaUVector(const vpRzyzVector &rzyz);
191  // constructor initialize a Theta U vector from a RxyzVector
192  explicit vpThetaUVector(const vpRxyzVector &rxyz);
193  explicit vpThetaUVector(const vpQuaternionVector &q);
194  explicit vpThetaUVector(const vpColVector &tu);
195  explicit vpThetaUVector(const std::vector<double> &tu);
196 
197  vpThetaUVector(const double tux, const double tuy, const double tuz);
199  virtual ~vpThetaUVector(){};
200 
201  // convert an homogeneous matrix into Theta U vector
202  vpThetaUVector buildFrom(const vpHomogeneousMatrix &M);
203  // convert a pose vector into Theta U vector
204  vpThetaUVector buildFrom(const vpPoseVector &p);
205  // convert a rotation matrix into Theta U vector
206  vpThetaUVector buildFrom(const vpRotationMatrix &R);
207  // convert an Rzyx vector into Theta U vector
208  vpThetaUVector buildFrom(const vpRzyxVector &rzyx);
209  // convert an Rzyz vector into Theta U vector
210  vpThetaUVector buildFrom(const vpRzyzVector &zyz);
211  // convert an Rxyz vector into Theta U vector
212  vpThetaUVector buildFrom(const vpRxyzVector &xyz);
213  vpThetaUVector buildFrom(const vpQuaternionVector &q);
214  vpThetaUVector buildFrom(const vpColVector &tu);
215  vpThetaUVector buildFrom(const std::vector<double> &tu);
216 
217  void buildFrom(const double tux, const double tuy, const double tuz);
218 
219  // extract the angle and the axis from the ThetaU representation
220  void extract(double &theta, vpColVector &u) const;
221  double getTheta() const;
222  vpColVector getU() const;
223 
225  vpThetaUVector &operator=(double x);
226 
227 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
228  vpThetaUVector &operator=(const std::initializer_list<double> &list);
229 #endif
230 };
231 
232 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyxVector.h:185
virtual ~vpThetaUVector()
Destructor.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as quaternion angle minimal representation.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:182
Implementation of a rotation vector as axis-angle minimal representation.