Visual Servoing Platform version 3.6.0
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vpRzyxVector.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 * Rzyx angle parameterization for the rotation.
32 * Rzyx(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(x,psi)
33 */
34
35#ifndef _vpRzyxVector_h_
36#define _vpRzyxVector_h_
37
48class vpThetaUVector;
49
50#include <visp3/core/vpRotationMatrix.h>
51#include <visp3/core/vpRotationVector.h>
52
179class VISP_EXPORT vpRzyxVector : public vpRotationVector
180{
181public:
182 vpRzyxVector();
183 vpRzyxVector(const vpRzyxVector &rzyx);
184 vpRzyxVector(double phi, double theta, double psi);
185
186 // initialize a Rzyx vector from a rotation matrix
187 explicit vpRzyxVector(const vpRotationMatrix &R);
188
189 // initialize a Rzyx vector from a ThetaU vector
190 explicit vpRzyxVector(const vpThetaUVector &tu);
191 explicit vpRzyxVector(const vpColVector &rzyx);
192 explicit vpRzyxVector(const std::vector<double> &rzyx);
193
195 virtual ~vpRzyxVector(){}
196
197 // convert a rotation matrix into Rzyx vector
198 vpRzyxVector buildFrom(const vpRotationMatrix &R);
199
200 // convert a ThetaU vector into a Rzyx vector
201 vpRzyxVector buildFrom(const vpThetaUVector &R);
202 vpRzyxVector buildFrom(const vpColVector &rxyz);
203 vpRzyxVector buildFrom(const std::vector<double> &rxyz);
204
205 void buildFrom(double phi, double theta, double psi);
206
207 vpRzyxVector &operator=(const vpColVector &rzyx);
208 vpRzyxVector &operator=(double x);
209#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
210 vpRzyxVector &operator=(const vpRzyxVector &rzyx) = default;
211 vpRzyxVector &operator=(const std::initializer_list<double> &list);
212#endif
213};
214
215#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 ~vpRzyxVector()
Destructor.
vpRzyxVector & operator=(const vpRzyxVector &rzyx)=default
Implementation of a rotation vector as axis-angle minimal representation.