vpThetaUVector.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://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:
 * Theta U parameterization for the rotation.
 */

 
#ifndef VP_THETAU_VECTOR_H
#define VP_THETAU_VECTOR_H
 
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpQuaternionVector.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpRzyxVector.h>
 
BEGIN_VISP_NAMESPACE
 
class vpHomogeneousMatrix;
class vpRotationMatrix;
class vpPoseVector;
class vpRzyxVector;
class vpRxyzVector;
class vpRzyzVector;
class vpColVector;
class vpRotationVector;
class vpQuaternionVector;

class VISP_EXPORT vpThetaUVector : public vpRotationVector
{
public:
  vpThetaUVector();
#if (VISP_CXX_STANDARD > VISP_CXX_STANDARD_98)
vpThetaUVector(const vpThetaUVector &) = default;
  virtual ~vpThetaUVector() VP_OVERRIDE = default;
#else
  virtual ~vpThetaUVector() { }
#endif
  // constructor initialize a Theta U vector from a homogeneous matrix
  VP_EXPLICIT vpThetaUVector(const vpHomogeneousMatrix &M);
  // constructor initialize a Theta U vector from a pose vector
  VP_EXPLICIT vpThetaUVector(const vpPoseVector &p);
  // constructor initialize a Theta U vector from a rotation matrix
  VP_EXPLICIT vpThetaUVector(const vpRotationMatrix &R);
  // constructor initialize a Theta U vector from a RzyxVector
  VP_EXPLICIT vpThetaUVector(const vpRzyxVector &rzyx);
  // constructor initialize a Theta U vector from a RzyzVector
  VP_EXPLICIT vpThetaUVector(const vpRzyzVector &rzyz);
  // constructor initialize a Theta U vector from a RxyzVector
  VP_EXPLICIT vpThetaUVector(const vpRxyzVector &rxyz);
  VP_EXPLICIT vpThetaUVector(const vpQuaternionVector &q);
  VP_EXPLICIT vpThetaUVector(const vpColVector &tu);
  VP_EXPLICIT vpThetaUVector(const std::vector<double> &tu);
 
  vpThetaUVector(double tux, double tuy, double tuz);
 
  // convert an homogeneous matrix into Theta U vector
  vpThetaUVector &buildFrom(const vpHomogeneousMatrix &M);
  // convert a pose vector into Theta U vector
  vpThetaUVector &buildFrom(const vpPoseVector &p);
  // convert a rotation matrix into Theta U vector
  vpThetaUVector &buildFrom(const vpRotationMatrix &R);
  // convert an Rzyx vector into Theta U vector
  vpThetaUVector &buildFrom(const vpRzyxVector &rzyx);
  // convert an Rzyz vector into Theta U vector
  vpThetaUVector &buildFrom(const vpRzyzVector &zyz);
  // convert an Rxyz vector into Theta U vector
  vpThetaUVector &buildFrom(const vpRxyzVector &xyz);
  vpThetaUVector &buildFrom(const vpQuaternionVector &q);
  vpThetaUVector &buildFrom(const vpColVector &tu);
  vpThetaUVector &buildFrom(const std::vector<double> &tu);
 
  vpThetaUVector &buildFrom(const double &tux, const double &tuy, const double &tuz);
 
  // extract the angle and the axis from the ThetaU representation
  void extract(double &theta, vpColVector &u) const;
  double getTheta() const;
  vpColVector getU() const;
 
  vpThetaUVector &operator=(const vpColVector &tu);
  vpThetaUVector &operator=(double x);
  vpThetaUVector operator*(const vpThetaUVector &tu_b) const;
 
#if (VISP_CXX_STANDARD > VISP_CXX_STANDARD_98)
  vpThetaUVector &operator=(const vpThetaUVector &) = default;
#endif
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpThetaUVector &operator=(const std::initializer_list<double> &list);
#endif
 
private:
  static const double minimum;
  static const unsigned int constr_val_3;
 
};
END_VISP_NAMESPACE
#endif