Visual Servoing Platform
version 3.3.0
HelloWorld.cpp
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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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* Hello world example.
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*
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* Authors:
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* Fabien Spindler
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*
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*****************************************************************************/
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#include <iostream>
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#include <limits>
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#include <visp3/core/vpMath.h>
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#include <visp3/core/vpRotationMatrix.h>
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#include <visp3/core/vpThetaUVector.h>
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int
main()
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{
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try
{
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vpThetaUVector
tu;
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// Construct a rotation matrix from the theta U angles
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vpRotationMatrix
R(
vpMath::rad
(0.),
vpMath::rad
(180) + 100 * std::numeric_limits<double>::epsilon(), 0.);
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// Extract the theta U angles from a rotation matrix
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tu.
buildFrom
(R);
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// Since the rotation vector is 3 values column vector, the
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// transpose operation produce a row vector.
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vpRowVector
tu_t = tu.
t
();
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// Print the transpose row vector
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std::cout << tu_t << std::endl;
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return
EXIT_SUCCESS;
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}
catch
(
const
vpException
&e) {
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std::cout <<
"Catch an exception: "
<< e << std::endl;
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return
EXIT_FAILURE;
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}
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}
vpThetaUVector::buildFrom
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
Definition:
vpThetaUVector.cpp:122
vpMath::rad
static double rad(double deg)
Definition:
vpMath.h:107
vpThetaUVector
Implementation of a rotation vector as axis-angle minimal representation.
Definition:
vpThetaUVector.h:171
vpRotationVector::t
vpRowVector t() const
Definition:
vpRotationVector.cpp:55
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition:
vpRotationMatrix.h:121
vpRowVector
Implementation of row vector and the associated operations.
Definition:
vpRowVector.h:114
vpException
error that can be emited by ViSP classes.
Definition:
vpException.h:70
example
manual
hello-world
CMake
HelloWorld.cpp
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