Visual Servoing Platform version 3.5.0
vpRzyxVector.h
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3 * ViSP, open source Visual Servoing Platform software.
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Rzyx angle parameterization for the rotation.
33 * Rzyx(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(x,psi)
34 *
35 * Authors:
36 * Eric Marchand
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40
41#ifndef vpRzyxVector_h
42#define vpRzyxVector_h
43
54class vpThetaUVector;
55
56#include <visp3/core/vpRotationMatrix.h>
57#include <visp3/core/vpRotationVector.h>
58
185class VISP_EXPORT vpRzyxVector : public vpRotationVector
186{
187public:
188 vpRzyxVector();
189 vpRzyxVector(const vpRzyxVector &rzyx);
190 vpRzyxVector(double phi, double theta, double psi);
191
192 // initialize a Rzyx vector from a rotation matrix
193 explicit vpRzyxVector(const vpRotationMatrix &R);
194
195 // initialize a Rzyx vector from a ThetaU vector
196 explicit vpRzyxVector(const vpThetaUVector &tu);
197 explicit vpRzyxVector(const vpColVector &rzyx);
198 explicit vpRzyxVector(const std::vector<double> &rzyx);
199
201 virtual ~vpRzyxVector(){};
202
203 // convert a rotation matrix into Rzyx vector
204 vpRzyxVector buildFrom(const vpRotationMatrix &R);
205
206 // convert a ThetaU vector into a Rzyx vector
207 vpRzyxVector buildFrom(const vpThetaUVector &R);
208 vpRzyxVector buildFrom(const vpColVector &rxyz);
209 vpRzyxVector buildFrom(const std::vector<double> &rxyz);
210
211 void buildFrom(double phi, double theta, double psi);
212
213 vpRzyxVector &operator=(const vpColVector &rzyx);
214 vpRzyxVector &operator=(double x);
215#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
216 vpRzyxVector &operator=(const vpRzyxVector &rzyx) = default;
217 vpRzyxVector &operator=(const std::initializer_list<double> &list);
218#endif
219};
220
221#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a generic rotation vector.
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyxVector.h:186
virtual ~vpRzyxVector()
Destructor.
Definition: vpRzyxVector.h:201
vpRzyxVector & operator=(const vpRzyxVector &rzyx)=default
Implementation of a rotation vector as axis-angle minimal representation.