vpRzyzVector.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Euler angles parameterization for the rotation.
 * Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
 */

 
#ifndef VP_RZYZ_VECTOR_H
#define VP_RZYZ_VECTOR_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRotationVector.h>
 
BEGIN_VISP_NAMESPACE
 
class vpRotationMatrix;
class vpThetaUVector;

class VISP_EXPORT vpRzyzVector : public vpRotationVector
{
public:
  vpRzyzVector();
#if (VISP_CXX_STANDARD > VISP_CXX_STANDARD_98)
  vpRzyzVector(const vpRzyzVector &) = default;
  virtual ~vpRzyzVector() VP_OVERRIDE = default;
#else
  virtual ~vpRzyzVector() { }
#endif
 
  // initialize a Rzyz vector from a rotation matrix
  VP_EXPLICIT vpRzyzVector(const vpRotationMatrix &R);
 
  // initialize a Rzyz vector from a ThetaU vector
  VP_EXPLICIT vpRzyzVector(const vpThetaUVector &tu);
 
  vpRzyzVector(double phi, double theta, double psi);
  VP_EXPLICIT vpRzyzVector(const vpColVector &rzyz);
  VP_EXPLICIT vpRzyzVector(const std::vector<double> &rzyz);
 
  // convert a rotation matrix into Rzyz vector
  vpRzyzVector &buildFrom(const vpRotationMatrix &R);
 
  // convert a ThetaU vector into a Rzyz vector
  vpRzyzVector &buildFrom(const vpThetaUVector &R);
  vpRzyzVector &buildFrom(const vpColVector &rxyz);
  vpRzyzVector &buildFrom(const std::vector<double> &rxyz);
 
  vpRzyzVector &buildFrom(const double &phi, const double &theta, const double &psi);
 
  vpRzyzVector &operator=(const vpColVector &rzyz);
  vpRzyzVector &operator=(double x);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpRzyzVector &operator=(const vpRzyzVector &) = default;
  vpRzyzVector &operator=(const std::initializer_list<double> &list);
#endif
private:
  static const unsigned int constr_val_3;
};
END_VISP_NAMESPACE
#endif