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vpRotationVector.h
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/****************************************************************************
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*
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* $Id: vpRotationVector.h 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Generic rotation vector (cannot be used as is !).
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*
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* Authors:
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* Eric Marchand
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*
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*****************************************************************************/
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#ifndef vpRotationVECTOR_H
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#define vpRotationVECTOR_H
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#include <visp/vpMath.h>
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#include <visp/vpRowVector.h>
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#include <stdio.h>
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#include <iostream>
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#include <math.h>
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class
VISP_EXPORT
vpRotationVector
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{
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friend
class
vpColVector
;
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protected
:
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double
*
r
;
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unsigned
int
_size
;
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void
init
(
const
unsigned
int
size
);
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public
:
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vpRotationVector
() {
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init
(3);
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}
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vpRotationVector
(
const
unsigned
int
n) {
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init
(n);
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}
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~
vpRotationVector
();
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inline
double
&
operator []
(
unsigned
int
n) {
return
*(r + n); }
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inline
const
double
&
operator []
(
unsigned
int
n)
const
{
return
*(r+n); }
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unsigned
int
size
()
const
;
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// Transpose of the rotation vector.
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vpRowVector
t
()
const
;
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friend
VISP_EXPORT std::ostream &
operator <<
(std::ostream &s,
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const
vpRotationVector
&m);
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} ;
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#endif
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/*
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* Local variables:
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* c-basic-offset: 2
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* End:
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*/
src
math
transformation
vpRotationVector.h
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