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vpRzyxVector.h
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/****************************************************************************
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*
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* $Id: vpRzyxVector.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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* Rzyx angle parameterization for the rotation.
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* Rzyx(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(x,psi)
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*
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* Authors:
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* Eric Marchand
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef vpRzyxVector_h
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#define vpRzyxVector_h
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#include <visp/vpRotationMatrix.h>
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#include <visp/vpRotationVector.h>
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class
vpRotationMatrix
;
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class
vpThetaUVector
;
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class
VISP_EXPORT
vpRzyxVector
:
public
vpRotationVector
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{
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friend
class
vpRotationMatrix
;
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friend
class
vpThetaUVector
;
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public
:
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vpRzyxVector
() { ; }
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// Copy constructor.
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vpRzyxVector
(
const
vpRzyxVector
&m);
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vpRzyxVector
(
const
double
phi,
const
double
theta,
const
double
psi) :
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vpRotationVector
(3) {
r
[0]=phi;
r
[1]=theta;
r
[2]=psi; }
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// initialize a Rzyx vector from a rotation matrix
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vpRzyxVector
(
const
vpRotationMatrix
& R) ;
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// initialize a Rzyx vector from a ThetaU vector
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vpRzyxVector
(
const
vpThetaUVector
& tu) ;
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// Affectation of two vectors.
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vpRzyxVector
&
operator=
(
const
vpRzyxVector
&m);
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void
buildFrom
(
const
double
phi,
const
double
theta,
const
double
psi)
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{
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r
[0] = phi ;
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r
[1] = theta ;
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r
[2] = psi ;
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}
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// convert a rotation matrix into Rzyx vector
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vpRzyxVector
buildFrom
(
const
vpRotationMatrix
& R) ;
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// convert a ThetaU vector into a Rzyx vector
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vpRzyxVector
buildFrom
(
const
vpThetaUVector
& R) ;
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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
vpRzyxVector.h
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