libvisp-dev 2.9.0-3+b2 / usr / include / visp / vpRzyzVector.h

/****************************************************************************
 *
 * $Id: vpRzyzVector.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:
 * Euler angles parameterization for the rotation.
 * Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#ifndef vpRzyzVector_h
#define vpRzyzVector_h

/*!
  \file vpRzyzVector.h
  \brief class that consider the case of the Rzyz angles parameterization
  for the  rotation

  Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
*/

class vpRotationMatrix;
class vpThetaUVector;

#include <visp/vpRotationVector.h>
#include <visp/vpRotationMatrix.h>

/*!
  \class vpRzyzVector

  \ingroup RotTransformation

  \brief Class that consider the case of the Euler
  \f$(\varphi,\theta,\psi)\f$ angles using the z-y-z convention, where
  \f$(\varphi,\theta,\psi)\f$ are respectively the rotation angles
  around the \f$z\f$, \f$y\f$ and \f$z\f$ axis.

  \f[R_{zyz}(\varphi,\theta,\psi) = R_z(\varphi) \; R_y(\theta) \; R_z(\psi)\f]

  with

  \f[
  R_{z}(\varphi) = \left(
  \begin{array}{ccc}
  \cos \varphi & -\sin\varphi & 0\\
  \sin\varphi &\cos \varphi& 0 \\
  0 & 0 & 1
  \end{array}
  \right) \;
  R_{y}(\theta) = \left(
  \begin{array}{ccc}
  \cos \theta & 0 & \sin\theta\\
  0 & 1 & 0 \\
  -\sin\theta & 0 &\cos \theta
  \end{array}
  \right) \;
  R_{z}(\psi) = \left(
  \begin{array}{ccc}
  \cos \psi & -\sin\psi & 0\\
  \sin\psi &\cos \psi& 0 \\
  0 & 0 & 1
  \end{array}
  \right)
  \f]
  
  The rotation matrix corresponding to the z-y-z convention is given by:

  \f[
  R_{zyz}(\varphi,\theta,\psi) = \left(
  \begin{array}{ccc}
  \cos\varphi \cos\theta \cos\psi - \sin\varphi\sin\psi & -\cos\varphi \cos\theta \sin\psi -\sin\varphi\cos\psi & \cos\varphi \sin\theta \\
  \sin\varphi \cos\theta \cos\psi + \cos\varphi\sin\psi & -\sin\varphi \cos\theta \sin\psi +\cos\varphi\cos\psi & \sin\varphi \sin\theta \\
  -\sin\theta \cos\psi & \sin\theta \sin\psi & \cos\theta
  \end{array}
  \right)
  \f]
 
  The code below shows first how to initialize this representation of
  Euler angles, than how to contruct a rotation matrix from a
  vpRzyzVector and finaly how to extract the vpRzyzVector Euler angles
  from the build rotation matrix.

  \code
#include <visp/vpMath.h>
#include <visp/vpRotationMatrix.h>
#include <visp/vpRzyzVector.h>

int main()
{
  vpRzyzVector rzyz;

  // Initialise the Euler angles
  rzyz[0] = vpMath::rad( 45.f); // phi   angle in rad/s around z axis 
  rzyz[1] = vpMath::rad(-30.f); // theta angle in rad/s around y axis
  rzyz[2] = vpMath::rad( 90.f); // psi   angle in rad/s around z axis

  // Construct a rotation matrix from the Euler angles
  vpRotationMatrix R(rzyz);

  // Extract the Euler angles around z,y,z axis from a rotation matrix
  rzyz.buildFrom(R);

  // Print the extracted Euler angles. Values are the same than the
  // one used for initialization
  std::cout << rzyz; 

  // Since the rotation vector is 3 values column vector, the
  // transpose operation produce a row vector.
  vpRowVector rzyz_t = rzyz.t();
  
  // Print the transpose row vector
  std::cout << rzyz_t << std::endl;
}
  \endcode
*/
class VISP_EXPORT vpRzyzVector : public vpRotationVector
{
  friend class vpRotationMatrix;
  friend class vpThetaUVector;

 public:
  /*! Default constructor that initialize all the angles to zero. */
  vpRzyzVector() {}
  /*! Copy constructor. */
  vpRzyzVector(const vpRzyzVector &rzyz) : vpRotationVector(rzyz) {}

  /*!
    Constructor from 3 angles (in radian).
    \param phi : \f$\varphi\f$ angle around the \f$z\f$ axis.
    \param theta : \f$\theta\f$ angle around the \f$y\f$ axis.
    \param psi : \f$\psi\f$ angle around the \f$z\f$ axis.
  */
  vpRzyzVector(const double phi, const double theta, const double psi) :
    vpRotationVector (3) { r[0]=phi;r[1]=theta;r[2]=psi; }
    
  // initialize a Rzyz vector from a rotation matrix
  vpRzyzVector(const vpRotationMatrix& R);

  // initialize a Rzyz vector from a ThetaU vector
  vpRzyzVector(const vpThetaUVector&  tu);

  /*!
    Construction from 3 angles (in radian).
    \param phi : \f$\varphi\f$ angle around the \f$z\f$ axis.
    \param theta : \f$\theta\f$ angle around the \f$y\f$ axis.
    \param psi : \f$\psi\f$ angle around the \f$z\f$ axis.
  */
  void buildFrom(const double phi, const double theta, const double psi)
  {
    r[0] = phi ;
    r[1] = theta ;
    r[2] = psi ;
  }

  // convert a rotation matrix into Rzyz vector
  vpRzyzVector buildFrom(const vpRotationMatrix& R) ;

  // convert a ThetaU vector into a Rzyz vector
  vpRzyzVector buildFrom(const vpThetaUVector& R) ;

  vpRzyzVector &operator=(double x) ;

} ;
#endif