Visual Servoing Platform version 3.5.0
vpRzyzVector.cpp
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3 * ViSP, open source Visual Servoing Platform software.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Euler angles parameterization for the rotation.
33 * Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
34 *
35 * Authors:
36 * Eric Marchand
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40
41#include <math.h>
42#include <visp3/core/vpRzyzVector.h>
43
54
61vpRzyzVector::vpRzyzVector(double phi, double theta, double psi) : vpRotationVector(3)
62{
63 buildFrom(phi, theta, psi);
64}
65
72
80
83{
84 buildFrom(rzyz);
85}
86
88vpRzyzVector::vpRzyzVector(const std::vector<double> &rzyz) : vpRotationVector(3)
89{
90 buildFrom(rzyz);
91}
92
101{
102 double phi;
103 if ((fabs(R[1][2]) < 1e-6) && (fabs(R[0][2]) < 1e-6))
104 phi = 0;
105 else
106 phi = atan2(R[1][2], R[0][2]);
107 double cphi = cos(phi);
108 double sphi = sin(phi);
109
110 double theta = atan2(cphi * R[0][2] + sphi * R[1][2], R[2][2]);
111
112 double psi = atan2(-sphi * R[0][0] + cphi * R[1][0], -sphi * R[0][1] + cphi * R[1][1]);
113
114 buildFrom(phi, theta, psi);
115
116 return *this;
117}
118
126{
128 R.buildFrom(tu);
129 buildFrom(R);
130
131 return *this;
132}
133
138{
139 if (rzyz.size() != 3) {
140 throw(vpException(vpException::dimensionError, "Cannot construct a R-zyz vector from a %d-dimension col vector",
141 rzyz.size()));
142 }
143 for (unsigned int i = 0; i < 3; i++)
144 data[i] = rzyz[i];
145
146
147 return *this;
148}
149
153vpRzyzVector vpRzyzVector::buildFrom(const std::vector<double> &rzyz)
154{
155 if (rzyz.size() != 3) {
156 throw(vpException(vpException::dimensionError, "Cannot construct a R-zyx vector from a %d-dimension std::vector",
157 rzyz.size()));
158 }
159 for (unsigned int i = 0; i < 3; i++)
160 data[i] = rzyz[i];
161
162 return *this;
163}
164
185{
186 for (unsigned int i = 0; i < dsize; i++)
187 data[i] = v;
188
189 return *this;
190}
191
198void vpRzyzVector::buildFrom(double phi, double theta, double psi)
199{
200 data[0] = phi;
201 data[1] = theta;
202 data[2] = psi;
203}
204
229{
230 if (rzyz.size() != 3) {
231 throw(vpException(vpException::dimensionError, "Cannot set a R-zyz vector from a %d-dimension col vector",
232 rzyz.size()));
233 }
234 for (unsigned int i = 0; i < 3; i++)
235 data[i] = rzyz[i];
236
237 return *this;
238}
239
240#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
258vpRzyzVector &vpRzyzVector::operator=(const std::initializer_list<double> &list)
259{
260 if (list.size() > size()) {
261 throw(vpException(vpException::dimensionError, "Cannot set Euler x-y-z vector out of bounds. It has only %d values while you try to initialize with %d values", size(), list.size()));
262 }
263 std::copy(list.begin(), list.end(), data);
264 return *this;
265}
266#endif
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int dsize
Current array size (rowNum * colNum)
Definition: vpArray2D.h:141
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ dimensionError
Bad dimension.
Definition: vpException.h:95
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Implementation of a generic rotation vector.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:183
vpRzyzVector buildFrom(const vpRotationMatrix &R)
vpRzyzVector & operator=(const vpColVector &rzyz)
Implementation of a rotation vector as axis-angle minimal representation.