Visual Servoing Platform version 3.6.0
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vpRxyzVector.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
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
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.
11 *
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.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
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 * Rxyz angle parameterization for the rotation.
32 * Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
33 */
34
35#ifndef _vpRxyzVector_h_
36#define _vpRxyzVector_h_
37
47#include <visp3/core/vpRotationMatrix.h>
48#include <visp3/core/vpRotationVector.h>
49
52class vpThetaUVector;
53
177class VISP_EXPORT vpRxyzVector : public vpRotationVector
178{
179public:
180 vpRxyzVector();
181 vpRxyzVector(const vpRxyzVector &rxyz);
182 vpRxyzVector(double phi, double theta, double psi);
183
184 // initialize a Rxyz vector from a rotation matrix
185 explicit vpRxyzVector(const vpRotationMatrix &R);
186
187 // initialize a Rxyz vector from a ThetaU vector
188 explicit vpRxyzVector(const vpThetaUVector &tu);
189 explicit vpRxyzVector(const vpColVector &rxyz);
190 explicit vpRxyzVector(const std::vector<double> &rxyz);
191
193 virtual ~vpRxyzVector(){}
194
195 // convert a rotation matrix into Rxyz vector
196 vpRxyzVector buildFrom(const vpRotationMatrix &R);
197
198 // convert a ThetaU vector into a Rxyz vector
199 vpRxyzVector buildFrom(const vpThetaUVector &tu);
200 vpRxyzVector buildFrom(const vpColVector &rxyz);
201 vpRxyzVector buildFrom(const std::vector<double> &rxyz);
202
203 void buildFrom(double phi, double theta, double psi);
204
205 vpRxyzVector &operator=(const vpColVector &rxyz);
206 vpRxyzVector &operator=(double x);
207#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
208 vpRxyzVector &operator=(const vpRxyzVector &rxyz) = default;
209 vpRxyzVector &operator=(const std::initializer_list<double> &list);
210#endif
211};
212
213#endif
Implementation of column vector and the associated operations.
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.
virtual ~vpRxyzVector()
Destructor.
vpRxyzVector & operator=(const vpRxyzVector &rxyz)=default
Implementation of a rotation vector as axis-angle minimal representation.