ViSP
Main Page
Related Pages
Modules
Classes
Examples
All
Classes
Functions
Variables
Enumerations
Enumerator
Friends
Groups
Pages
vpThetaUVector.h
1
/****************************************************************************
2
*
3
* $Id: vpThetaUVector.h 4056 2013-01-05 13:04:42Z fspindle $
4
*
5
* This file is part of the ViSP software.
6
* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7
*
8
* This software is free software; you can redistribute it and/or
9
* modify it under the terms of the GNU General Public License
10
* ("GPL") version 2 as published by the Free Software Foundation.
11
* See the file LICENSE.txt at the root directory of this source
12
* distribution for additional information about the GNU GPL.
13
*
14
* For using ViSP with software that can not be combined with the GNU
15
* GPL, please contact INRIA about acquiring a ViSP Professional
16
* Edition License.
17
*
18
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19
*
20
* This software was developed at:
21
* INRIA Rennes - Bretagne Atlantique
22
* Campus Universitaire de Beaulieu
23
* 35042 Rennes Cedex
24
* France
25
* http://www.irisa.fr/lagadic
26
*
27
* If you have questions regarding the use of this file, please contact
28
* INRIA at visp@inria.fr
29
*
30
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32
*
33
*
34
* Description:
35
* Theta U parameterization for the rotation.
36
*
37
* Authors:
38
* Eric Marchand
39
*
40
*****************************************************************************/
41
42
43
#ifndef vpTHETAUVECTOR_H
44
#define vpTHETAUVECTOR_H
45
52
class
vpHomogeneousMatrix
;
53
class
vpRotationMatrix
;
54
class
vpRzyxVector
;
55
class
vpRxyzVector
;
56
class
vpRzyzVector
;
57
58
#include <visp/vpRotationVector.h>
59
#include <visp/vpRotationMatrix.h>
60
#include <visp/vpHomogeneousMatrix.h>
61
#include <visp/vpRxyzVector.h>
62
#include <visp/vpRzyxVector.h>
63
64
140
class
VISP_EXPORT
vpThetaUVector
:
public
vpRotationVector
141
{
142
143
private
:
145
void
init
() ;
146
147
static
const
double
minimum;
148
149
public
:
150
151
// constructor
152
vpThetaUVector
() { ; }
153
// copy constructor
154
vpThetaUVector
(
const
vpThetaUVector
&tu) ;
155
156
// constructor initialize a Theta U vector from a homogeneous matrix
157
vpThetaUVector
(
const
vpHomogeneousMatrix
& M) ;
158
// constructor initialize a Theta U vector from a rotation matrix
159
vpThetaUVector
(
const
vpRotationMatrix
& R) ;
160
// constructor initialize a Theta U vector from a RzyxVector
161
vpThetaUVector
(
const
vpRzyxVector
& rzyx) ;
162
// constructor initialize a Theta U vector from a RzyzVector
163
vpThetaUVector
(
const
vpRzyzVector
& rzyz) ;
164
// constructor initialize a Theta U vector from a RxyzVector
165
vpThetaUVector
(
const
vpRxyzVector
& rxyz) ;
166
170
vpThetaUVector
(
const
double
tux,
const
double
tuy,
const
double
tuz) :
171
vpRotationVector
(3) { r[0]=tux;r[1]=tuy;r[2]=tuz; }
172
173
// convert an homogeneous matrix into Theta U vector
174
vpThetaUVector
buildFrom(
const
vpHomogeneousMatrix
& M) ;
175
// convert a rotation matrix into Theta U vector
176
vpThetaUVector
buildFrom(
const
vpRotationMatrix
& R) ;
177
// convert an Rzyx vector into Theta U vector
178
vpThetaUVector
buildFrom(
const
vpRzyxVector
&rzyx) ;
179
// convert an Rzyz vector into Theta U vector
180
vpThetaUVector
buildFrom(
const
vpRzyzVector
&zyz) ;
181
// convert an Rxyz vector into Theta U vector
182
vpThetaUVector
buildFrom(
const
vpRxyzVector
&xyz) ;
183
184
// copy operator
185
vpThetaUVector
&operator=(
const
vpThetaUVector
&tu);
186
vpThetaUVector
&operator=(
double
x) ;
187
188
// extract the angle and the axis from the ThetaU representation
189
void
extract(
double
&theta,
vpColVector
&u)
const
;
190
} ;
191
192
#endif
193
194
/*
195
* Local variables:
196
* c-basic-offset: 2
197
* End:
198
*/
199
src
math
transformation
vpThetaUVector.h
Generated on Wed Jun 12 2013 05:39:46 for ViSP by
1.8.1.2