/usr/include/x86_64-linux-gnu/visp3/core/vpRzyzVector.h is in libvisp-core-dev 3.0.0-4.
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*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 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://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* 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 <visp3/core/vpRotationVector.h>
#include <visp3/core/vpRotationMatrix.h>
/*!
\class vpRzyzVector
\ingroup group_core_transformations
\brief Implementation of a rotation vector as \f$R(z,y,z)\f$ Euler angle
minimal representation.
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 vpRzyzVector class is derived from vpRotationVector.
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 <visp3/core/vpMath.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/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
{
public:
vpRzyzVector();
vpRzyzVector(const vpRzyzVector &rzyz);
// initialize a Rzyz vector from a rotation matrix
vpRzyzVector(const vpRotationMatrix& R);
// initialize a Rzyz vector from a ThetaU vector
vpRzyzVector(const vpThetaUVector& tu);
vpRzyzVector(const double phi, const double theta, const double psi);
//! Destructor.
virtual ~vpRzyzVector() {};
// 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) ;
void buildFrom(const double phi, const double theta, const double psi);
vpRzyzVector &operator=(double x) ;
} ;
#endif
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