Visual Servoing Platform version 3.5.0
vpRzyxVector.cpp
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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#include <math.h>
42#include <visp3/core/vpRzyxVector.h>
52
55
62vpRzyxVector::vpRzyxVector(double phi, double theta, double psi) : vpRotationVector(3)
63{
64 buildFrom(phi, theta, psi);
65}
66
73
81
84{
85 buildFrom(rzyx);
86}
87
89vpRzyxVector::vpRzyxVector(const std::vector<double> &rzyx) : vpRotationVector(3)
90{
91 buildFrom(rzyx);
92}
93
105{
106 double nx = R[0][0];
107 double ny = R[1][0];
108
109 double phi = atan2(ny, nx);
110 double si = sin(phi);
111 double co = cos(phi);
112
113 double nz = R[2][0];
114 double theta = atan2(-nz, co * nx + si * ny);
115
116 double ax = R[0][2];
117 double ay = R[1][2];
118 double ox = R[0][1];
119 double oy = R[1][1];
120
121 double psi = atan2(si * ax - co * ay, -si * ox + co * oy);
122
123 buildFrom(phi, theta, psi);
124
125 return *this;
126}
127
135{
137 R.buildFrom(tu);
138 buildFrom(R);
139
140 return *this;
141}
142
149void vpRzyxVector::buildFrom(double phi, double theta, double psi)
150{
151 data[0] = phi;
152 data[1] = theta;
153 data[2] = psi;
154}
155
160{
161 if (rzyx.size() != 3) {
162 throw(vpException(vpException::dimensionError, "Cannot construct a R-zyx vector from a %d-dimension col vector",
163 rzyx.size()));
164 }
165 for (unsigned int i = 0; i < 3; i++)
166 data[i] = rzyx[i];
167
168
169 return *this;
170}
171
175vpRzyxVector vpRzyxVector::buildFrom(const std::vector<double> &rzyx)
176{
177 if (rzyx.size() != 3) {
178 throw(vpException(vpException::dimensionError, "Cannot construct a R-zyx vector from a %d-dimension std::vector",
179 rzyx.size()));
180 }
181 for (unsigned int i = 0; i < 3; i++)
182 data[i] = rzyx[i];
183
184 return *this;
185}
186
207{
208 for (unsigned int i = 0; i < dsize; i++)
209 data[i] = v;
210
211 return *this;
212}
213
238{
239 if (rzyx.size() != 3) {
240 throw(vpException(vpException::dimensionError, "Cannot set a R-zyx vector from a %d-dimension col vector",
241 rzyx.size()));
242 }
243 for (unsigned int i = 0; i < 3; i++)
244 data[i] = rzyx[i];
245
246 return *this;
247}
248
249#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
267vpRzyxVector &vpRzyxVector::operator=(const std::initializer_list<double> &list)
268{
269 if (list.size() > size()) {
270 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()));
271 }
272 std::copy(list.begin(), list.end(), data);
273 return *this;
274}
275#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: vpRzyxVector.h:186
vpRzyxVector & operator=(const vpColVector &rzyx)
vpRzyxVector buildFrom(const vpRotationMatrix &R)
Implementation of a rotation vector as axis-angle minimal representation.