/usr/include/visp/vpRotationVector.h is in libvisp-dev 2.9.0-3+b2.
This file is owned by root:root, with mode 0o644.
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*
* $Id: vpRotationVector.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 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
* ("GPL") version 2 as published by the Free Software Foundation.
* 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* 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:
* Generic rotation vector (cannot be used as is !).
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#ifndef vpRotationVECTOR_H
#define vpRotationVECTOR_H
/*!
\file vpRotationVector.h
\brief class that consider the case of a generic rotation vector
(cannot be used as is !)
*/
#include <visp/vpMath.h>
#include <visp/vpRowVector.h>
#include <stdio.h>
#include <iostream>
#include <math.h>
/*!
\class vpRotationVector
\ingroup RotTransformation
\brief Class that consider the case of a generic rotation vector
(cannot be used as is !) consisting in three angles.
The code below shows how this class can be used to manipulate a vpRxyzVector.
\code
#include <iostream>
#include <visp/vpRxyzVector.h>
#include <visp/vpMath.h>
int main()
{
vpRxyzVector r; // By default initialized to zero
r[0] = vpMath::rad(45); // Rotation around x set to 45 degres converted in radians
r[1] = M_PI; // Rotation around y set to PI radians
r[2] = 0; // Rotation around z set to 0 radians
std::cout << "Rxyz rotation vector: " << r << std::endl;
double rx = r[0]; // Get the value of the angle around x axis
double ry = r[1]; // Get the value of the angle around y axis
double rz = r[2]; // Get the value of the angle around z axis
}
\endcode
*/
class VISP_EXPORT vpRotationVector
{
friend class vpColVector;
protected:
double *r ;
unsigned int _size;
void init(const unsigned int size);
public:
//! Constructor that constructs a vector of size 3 and initialize all values to zero.
vpRotationVector()
: r(NULL), _size(0)
{
init(3);
}
//! Constructor that constructs a vector of size n and initialize all values to zero.
vpRotationVector(const unsigned int n)
: r(NULL), _size(n)
{
init(n);
}
/*!
Copy operator.
*/
vpRotationVector(const vpRotationVector &v)
: r(NULL), _size(0)
{
*this = v;
}
virtual ~vpRotationVector();
/*!
Operator that allows to set the value of an element of the rotation
vector: r[i] = value
*/
inline double &operator [](unsigned int n) { return *(r + n); }
/*!
Operator that allows to get the value of an element of the rotation
vector: value = r[i]
*/
inline const double &operator [](unsigned int n) const { return *(r+n); }
/*!
Affectation of two vectors.
*/
vpRotationVector &operator=(const vpRotationVector &v)
{
init(v.size());
for (unsigned int i=0; i<_size; i++)
{
r[i] = v.r[i] ;
}
return *this;
}
/*! Returns the size of the rotation vector
*/
unsigned int size() const;
// Transpose of the rotation vector.
vpRowVector t() const;
friend VISP_EXPORT std::ostream &operator << (std::ostream &s, const vpRotationVector &m);
} ;
#endif
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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