Visual Servoing Platform version 3.5.0
vpRxyzVector.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
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.
12 *
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
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
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 * Rxyz angle parameterization for the rotation.
33 * Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
34 *
35 * Authors:
36 * Eric Marchand
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40
41#include <math.h>
42
43#include <visp3/core/vpRxyzVector.h>
44
53
56
63vpRxyzVector::vpRxyzVector(double phi, double theta, double psi) : vpRotationVector(3)
64{
65 buildFrom(phi, theta, psi);
66}
67
74
82
85{
86 buildFrom(rxyz);
87}
88
90vpRxyzVector::vpRxyzVector(const std::vector<double> &rxyz) : vpRotationVector(3)
91{
92 buildFrom(rxyz);
93}
94
103{
104 double COEF_MIN_ROT = 1e-6;
105 double phi;
106
107 if ((fabs(R[1][2]) < COEF_MIN_ROT) && (fabs(R[2][2]) < COEF_MIN_ROT))
108 phi = 0;
109 else
110 phi = atan2(-R[1][2], R[2][2]);
111
112 double si = sin(phi);
113 double co = cos(phi);
114 double theta = atan2(R[0][2], -si * R[1][2] + co * R[2][2]);
115 double psi = atan2(co * R[1][0] + si * R[2][0], co * R[1][1] + si * R[2][1]);
116
117 buildFrom(phi, theta, psi);
118
119 return *this;
120}
121
129{
131 R.buildFrom(tu);
132 buildFrom(R);
133
134 return *this;
135}
136
143void vpRxyzVector::buildFrom(double phi, double theta, double psi)
144{
145 data[0] = phi;
146 data[1] = theta;
147 data[2] = psi;
148}
149
154{
155 if (rxyz.size() != 3) {
156 throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension col vector",
157 rxyz.size()));
158 }
159 for (unsigned int i = 0; i < 3; i++)
160 data[i] = rxyz[i];
161
162 return *this;
163}
164
168vpRxyzVector vpRxyzVector::buildFrom(const std::vector<double> &rxyz)
169{
170 if (rxyz.size() != 3) {
171 throw(vpException(vpException::dimensionError, "Cannot construct a R-xyz vector from a %d-dimension std::vector",
172 rxyz.size()));
173 }
174 for (unsigned int i = 0; i < 3; i++)
175 data[i] = rxyz[i];
176
177 return *this;
178}
179
200{
201 for (unsigned int i = 0; i < dsize; i++)
202 data[i] = v;
203
204 return *this;
205}
206
231{
232 if (rxyz.size() != 3) {
233 throw(vpException(vpException::dimensionError, "Cannot set a R-xyz vector from a %d-dimension col vector",
234 rxyz.size()));
235 }
236 for (unsigned int i = 0; i < 3; i++)
237 data[i] = rxyz[i];
238
239 return *this;
240}
241
242#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
260vpRxyzVector &vpRxyzVector::operator=(const std::initializer_list<double> &list)
261{
262 if (list.size() > size()) {
263 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()));
264 }
265 std::copy(list.begin(), list.end(), data);
266 return *this;
267}
268#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: vpRxyzVector.h:184
vpRxyzVector buildFrom(const vpRotationMatrix &R)
vpRxyzVector & operator=(const vpColVector &rxyz)
Implementation of a rotation vector as axis-angle minimal representation.