Visual Servoing Platform version 3.6.0
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vpThetaUVector.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 * Theta U parameterization for the rotation.
32 */
33
34#ifndef _vpThetaUVector_h_
35#define _vpThetaUVector_h_
36
45class vpPoseVector;
46class vpRzyxVector;
47class vpRxyzVector;
48class vpRzyzVector;
49class vpColVector;
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
167class VISP_EXPORT vpThetaUVector : public vpRotationVector
168{
169private:
170 static const double minimum;
171
172public:
175
176 // constructor initialize a Theta U vector from a homogeneous matrix
177 explicit vpThetaUVector(const vpHomogeneousMatrix &M);
178 // constructor initialize a Theta U vector from a pose vector
179 explicit vpThetaUVector(const vpPoseVector &p);
180 // constructor initialize a Theta U vector from a rotation matrix
181 explicit vpThetaUVector(const vpRotationMatrix &R);
182 // constructor initialize a Theta U vector from a RzyxVector
183 explicit vpThetaUVector(const vpRzyxVector &rzyx);
184 // constructor initialize a Theta U vector from a RzyzVector
185 explicit vpThetaUVector(const vpRzyzVector &rzyz);
186 // constructor initialize a Theta U vector from a RxyzVector
187 explicit vpThetaUVector(const vpRxyzVector &rxyz);
188 explicit vpThetaUVector(const vpQuaternionVector &q);
189 explicit vpThetaUVector(const vpColVector &tu);
190 explicit vpThetaUVector(const std::vector<double> &tu);
191
192 vpThetaUVector(double tux, double tuy, double tuz);
194 virtual ~vpThetaUVector(){}
195
196 // convert an homogeneous matrix into Theta U vector
197 vpThetaUVector buildFrom(const vpHomogeneousMatrix &M);
198 // convert a pose vector into Theta U vector
199 vpThetaUVector buildFrom(const vpPoseVector &p);
200 // convert a rotation matrix into Theta U vector
201 vpThetaUVector buildFrom(const vpRotationMatrix &R);
202 // convert an Rzyx vector into Theta U vector
203 vpThetaUVector buildFrom(const vpRzyxVector &rzyx);
204 // convert an Rzyz vector into Theta U vector
205 vpThetaUVector buildFrom(const vpRzyzVector &zyz);
206 // convert an Rxyz vector into Theta U vector
207 vpThetaUVector buildFrom(const vpRxyzVector &xyz);
208 vpThetaUVector buildFrom(const vpQuaternionVector &q);
209 vpThetaUVector buildFrom(const vpColVector &tu);
210 vpThetaUVector buildFrom(const std::vector<double> &tu);
211
212 void buildFrom(double tux, double tuy, double tuz);
213
214 // extract the angle and the axis from the ThetaU representation
215 void extract(double &theta, vpColVector &u) const;
216 double getTheta() const;
217 vpColVector getU() const;
218
220 vpThetaUVector &operator=(double x);
221 vpThetaUVector operator*(const vpThetaUVector &tu_b) const;
222
223#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
224 vpThetaUVector &operator=(const std::initializer_list<double> &list);
225#endif
226};
227
228#endif
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a pose vector and operations on poses.
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.
Implementation of a rotation vector as Euler angle minimal representation.
Implementation of a rotation vector as Euler angle minimal representation.
Implementation of a rotation vector as axis-angle minimal representation.
virtual ~vpThetaUVector()
Destructor.