Visual Servoing Platform version 3.5.0
vpRotationMatrix.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
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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 * Rotation matrix.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpROTATIONMATRIX_H
40#define vpROTATIONMATRIX_H
41
47#include <visp3/core/vpArray2D.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpPoseVector.h>
50#include <visp3/core/vpQuaternionVector.h>
51#include <visp3/core/vpRxyzVector.h>
52#include <visp3/core/vpRzyxVector.h>
53#include <visp3/core/vpRzyzVector.h>
54#include <visp3/core/vpThetaUVector.h>
55#include <visp3/core/vpTranslationVector.h>
56
122class VISP_EXPORT vpRotationMatrix : public vpArray2D<double>
123{
124public:
127 explicit vpRotationMatrix(const vpHomogeneousMatrix &M);
128 explicit vpRotationMatrix(const vpThetaUVector &r);
129 explicit vpRotationMatrix(const vpPoseVector &p);
130 explicit vpRotationMatrix(const vpRzyzVector &r);
131 explicit vpRotationMatrix(const vpRxyzVector &r);
132 explicit vpRotationMatrix(const vpRzyxVector &r);
133 explicit vpRotationMatrix(const vpQuaternionVector &q);
134 explicit vpRotationMatrix(const vpMatrix &R);
135 vpRotationMatrix(double tux, double tuy, double tuz);
136
137#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
138 explicit vpRotationMatrix(const std::initializer_list<double> &list);
139#endif
140
145
146 vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M);
147 vpRotationMatrix buildFrom(const vpThetaUVector &v);
148 vpRotationMatrix buildFrom(const vpPoseVector &p);
149 vpRotationMatrix buildFrom(const vpRzyzVector &v);
150 vpRotationMatrix buildFrom(const vpRxyzVector &v);
151 vpRotationMatrix buildFrom(const vpRzyxVector &v);
152 vpRotationMatrix buildFrom(const vpQuaternionVector &q);
153 vpRotationMatrix buildFrom(double tux, double tuy, double tuz);
154
155 void eye();
156
157 vpColVector getCol(unsigned int j) const;
158 vpThetaUVector getThetaUVector();
159
160 vpRotationMatrix inverse() const;
161 void inverse(vpRotationMatrix &R) const;
162
163 bool isARotationMatrix(double threshold=1e-6) const;
164
165 // copy operator from vpRotationMatrix
167 // copy operator from vpMatrix (handle with care)
169#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
170 vpRotationMatrix& operator=(const std::initializer_list<double> &list);
171#endif
172 // operation c = A * b (A is unchanged)
174 // operation C = A * B (A is unchanged)
176 // operation C = A * B (A is unchanged)
177 vpMatrix operator*(const vpMatrix &M) const;
178 // operation v2 = A * v1 (A is unchanged)
179 vpColVector operator*(const vpColVector &v) const;
180 vpRotationMatrix operator*(double x) const;
181 vpRotationMatrix &operator*=(double x);
182
183 vpRotationMatrix& operator<<(double val);
184 vpRotationMatrix& operator,(double val);
185
186
187 void printVector();
188
194 void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
195 {
196 (void)nrows;
197 (void)ncols;
198 (void)flagNullify;
199 throw(vpException(vpException::fatalError, "Cannot resize a rotation matrix"));
200 }
201
202 // transpose
203 vpRotationMatrix t() const;
204
205 static vpRotationMatrix mean(const std::vector<vpHomogeneousMatrix> &vec_M);
206 static vpRotationMatrix mean(const std::vector<vpRotationMatrix> &vec_R);
207
208#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
217 vp_deprecated void init(){}
221 vp_deprecated void setIdentity();
223#endif
224
225protected:
226 unsigned int m_index;
227};
228
229#ifndef DOXYGEN_SHOULD_SKIP_THIS
230VISP_EXPORT
231#endif
232vpRotationMatrix operator*(const double &x, const vpRotationMatrix &R);
233
234#endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:132
vpArray2D< Type > & operator=(Type x)
Set all the elements of the array to x.
Definition: vpArray2D.h:413
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:493
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ fatalError
Fatal error.
Definition: vpException.h:96
Implementation of an homogeneous matrix and operations on such kind of matrices.
VISP_EXPORT vpImagePoint operator*(const vpImagePoint &ip1, double scale)
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
Implementation of a rotation vector as quaternion angle minimal representation.
Implementation of a rotation matrix and operations on such kind of matrices.
unsigned int m_index
vp_deprecated void init()
virtual ~vpRotationMatrix()
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true)
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyxVector.h:186
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:183
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.
vpColVector operator*(const double &x, const vpColVector &v)