Visual Servoing Platform version 3.5.0
HelloWorld.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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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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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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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 * Hello world example.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#include <iostream>
40#include <limits>
41#include <visp3/core/vpMath.h>
42#include <visp3/core/vpRotationMatrix.h>
43#include <visp3/core/vpThetaUVector.h>
44
45int main()
46{
47 try {
49
50 // Construct a rotation matrix from the theta U angles
51 vpRotationMatrix R(vpMath::rad(0.), vpMath::rad(180) + 100 * std::numeric_limits<double>::epsilon(), 0.);
52
53 // Extract the theta U angles from a rotation matrix
54 tu.buildFrom(R);
55
56 // Since the rotation vector is 3 values column vector, the
57 // transpose operation produce a row vector.
58 vpRowVector tu_t = tu.t();
59
60 // Print the transpose row vector
61 std::cout << tu_t << std::endl;
62 return EXIT_SUCCESS;
63 } catch (const vpException &e) {
64 std::cout << "Catch an exception: " << e << std::endl;
65 return EXIT_FAILURE;
66 }
67}
error that can be emited by ViSP classes.
Definition: vpException.h:72
static double rad(double deg)
Definition: vpMath.h:110
Implementation of a rotation matrix and operations on such kind of matrices.
vpRowVector t() const
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:116
Implementation of a rotation vector as axis-angle minimal representation.
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)