Visual Servoing Platform  version 3.0.1
HelloWorld.cpp
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29  *
30  * Description:
31  * Hello world example.
32  *
33  * Authors:
34  * Fabien Spindler
35  *
36  *****************************************************************************/
37 
38 #include <iostream>
39 #include <visp3/core/vpMath.h>
40 #include <visp3/core/vpRotationMatrix.h>
41 #include <visp3/core/vpThetaUVector.h>
42 #include <limits>
43 
44 int main()
45 {
46  try {
47  vpThetaUVector tu;
48 
49  // Construct a rotation matrix from the theta U angles
50  vpRotationMatrix R(vpMath::rad(0.),vpMath::rad(180)+100*std::numeric_limits<double>::epsilon(),0.);
51 
52  // Extract the theta U angles from a rotation matrix
53  tu.buildFrom(R);
54 
55  // Since the rotation vector is 3 values column vector, the
56  // transpose operation produce a row vector.
57  vpRowVector tu_t = tu.t();
58 
59  // Print the transpose row vector
60  std::cout << tu_t << std::endl;
61  return 0;
62  }
63  catch(vpException &e) {
64  std::cout << "Catch an exception: " << e << std::endl;
65  return 1;
66  }
67 }
vpRowVector t() const
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:70
error that can be emited by ViSP classes.
Definition: vpException.h:73
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
Implementation of a rotation matrix and operations on such kind of matrices.
static double rad(double deg)
Definition: vpMath.h:104
Implementation of a rotation vector as axis-angle minimal representation.