Visual Servoing Platform
version 3.2.0
vpRzyxVector.h
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Rzyx angle parameterization for the rotation.
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* Rzyx(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(x,psi)
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*
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* Authors:
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* Eric Marchand
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef vpRzyxVector_h
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#define vpRzyxVector_h
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class
vpRotationMatrix
;
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class
vpThetaUVector
;
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#include <visp3/core/vpRotationMatrix.h>
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#include <visp3/core/vpRotationVector.h>
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class
VISP_EXPORT
vpRzyxVector
:
public
vpRotationVector
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{
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public
:
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vpRzyxVector
();
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vpRzyxVector
(
const
vpRzyxVector
&rzyx);
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vpRzyxVector
(
const
double
phi,
const
double
theta,
const
double
psi);
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// initialize a Rzyx vector from a rotation matrix
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explicit
vpRzyxVector
(
const
vpRotationMatrix
&R);
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// initialize a Rzyx vector from a ThetaU vector
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explicit
vpRzyxVector
(
const
vpThetaUVector
&tu);
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explicit
vpRzyxVector
(
const
vpColVector
&rzyx);
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explicit
vpRzyxVector
(
const
std::vector<double> &rzyx);
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virtual
~
vpRzyxVector
(){};
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// convert a rotation matrix into Rzyx vector
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vpRzyxVector
buildFrom(
const
vpRotationMatrix
&R);
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// convert a ThetaU vector into a Rzyx vector
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vpRzyxVector
buildFrom(
const
vpThetaUVector
&R);
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vpRzyxVector
buildFrom(
const
vpColVector
&rxyz);
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vpRzyxVector
buildFrom(
const
std::vector<double> &rxyz);
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void
buildFrom(
const
double
phi,
const
double
theta,
const
double
psi);
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vpRzyxVector
&
operator=
(
const
vpColVector
&rzyx);
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vpRzyxVector
&
operator=
(
double
x);
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};
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#endif
vpThetaUVector
Implementation of a rotation vector as axis-angle minimal representation.
Definition:
vpThetaUVector.h:145
vpColVector
Implementation of column vector and the associated operations.
Definition:
vpColVector.h:71
vpRotationVector::operator=
vpRotationVector & operator=(const vpRotationVector &v)
Definition:
vpRotationVector.h:136
vpRotationVector
Implementation of a generic rotation vector.
Definition:
vpRotationVector.h:99
vpRzyxVector
Implementation of a rotation vector as Euler angle minimal representation.
Definition:
vpRzyxVector.h:157
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition:
vpRotationMatrix.h:70
modules
core
include
visp3
core
vpRzyxVector.h
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