Visual Servoing Platform version 3.5.0
vpRxyzVector.h
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3 * ViSP, open source Visual Servoing Platform software.
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Rxyz angle parameterization for the rotation.
33 * Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
34 *
35 * Authors:
36 * Eric Marchand
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40
41#ifndef vpRxyzVECTOR_H
42#define vpRxyzVECTOR_H
43
53#include <visp3/core/vpRotationMatrix.h>
54#include <visp3/core/vpRotationVector.h>
55
58class vpThetaUVector;
59
183class VISP_EXPORT vpRxyzVector : public vpRotationVector
184{
185public:
186 vpRxyzVector();
187 vpRxyzVector(const vpRxyzVector &rxyz);
188 vpRxyzVector(double phi, double theta, double psi);
189
190 // initialize a Rxyz vector from a rotation matrix
191 explicit vpRxyzVector(const vpRotationMatrix &R);
192
193 // initialize a Rxyz vector from a ThetaU vector
194 explicit vpRxyzVector(const vpThetaUVector &tu);
195 explicit vpRxyzVector(const vpColVector &rxyz);
196 explicit vpRxyzVector(const std::vector<double> &rxyz);
197
199 virtual ~vpRxyzVector(){};
200
201 // convert a rotation matrix into Rxyz vector
202 vpRxyzVector buildFrom(const vpRotationMatrix &R);
203
204 // convert a ThetaU vector into a Rxyz vector
205 vpRxyzVector buildFrom(const vpThetaUVector &tu);
206 vpRxyzVector buildFrom(const vpColVector &rxyz);
207 vpRxyzVector buildFrom(const std::vector<double> &rxyz);
208
209 void buildFrom(double phi, double theta, double psi);
210
211 vpRxyzVector &operator=(const vpColVector &rxyz);
212 vpRxyzVector &operator=(double x);
213#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
214 vpRxyzVector &operator=(const vpRxyzVector &rxyz) = default;
215 vpRxyzVector &operator=(const std::initializer_list<double> &list);
216#endif
217};
218
219#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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: vpRxyzVector.h:184
virtual ~vpRxyzVector()
Destructor.
Definition: vpRxyzVector.h:199
vpRxyzVector & operator=(const vpRxyzVector &rxyz)=default
Implementation of a rotation vector as axis-angle minimal representation.