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vpRotationMatrix.h
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/****************************************************************************
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*
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* $Id: vpRotationMatrix.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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* Rotation matrix.
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*
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* Authors:
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* Eric Marchand
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*
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*****************************************************************************/
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#ifndef vpROTATIONMATRIX_H
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#define vpROTATIONMATRIX_H
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#include <visp/vpMatrix.h>
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#include <visp/vpRxyzVector.h>
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#include <visp/vpRzyxVector.h>
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#include <visp/vpRzyzVector.h>
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#include <visp/vpThetaUVector.h>
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#include <visp/vpTranslationVector.h>
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#include <visp/vpQuaternionVector.h>
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class
VISP_EXPORT
vpRotationMatrix
:
public
vpMatrix
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{
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friend
class
vpMatrix
;
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friend
class
vpRxyzVector
;
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friend
class
vpRzyzVector
;
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friend
class
vpRzyxVector
;
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friend
class
vpThetaUVector
;
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friend
class
vpTranslationVector
;
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public
:
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void
init
() ;
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void
setIdentity
() ;
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void
eye
();
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vpRotationMatrix
() ;
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vpRotationMatrix
(
const
vpRotationMatrix
&R) ;
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vpRotationMatrix
(
const
vpThetaUVector
&r) ;
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vpRotationMatrix
(
const
vpRzyzVector
&r) ;
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vpRotationMatrix
(
const
vpRxyzVector
&r) ;
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vpRotationMatrix
(
const
vpRzyxVector
&r) ;
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vpRotationMatrix
(
const
double
tux,
const
double
tuy,
const
double
tuz) ;
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vpRotationMatrix
(
const
vpQuaternionVector
& q);
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vpRotationMatrix
&
operator=
(
const
vpRotationMatrix
&R);
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vpRotationMatrix
&
operator=
(
const
vpMatrix
&m) ;
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vpTranslationVector
operator*
(
const
vpTranslationVector
&mat)
const
;
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vpRotationMatrix
operator*
(
const
vpRotationMatrix
&B)
const
;
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vpMatrix
operator*
(
const
vpMatrix
&B)
const
;
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// operation v2 = A * v1 (A is unchanged)
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vpColVector
operator*
(
const
vpColVector
&v)
const
;
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vpRotationMatrix
operator+
(
const
vpRotationMatrix
&B)
const
;
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vpRotationMatrix
operator-
(
const
vpRotationMatrix
&B)
const
;
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vpRotationMatrix
t
()
const
;
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vpRotationMatrix
inverse()
const
;
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void
inverse(
vpRotationMatrix
&M)
const
;
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bool
isARotationMatrix()
const
;
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void
printVector() ;
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friend
VISP_EXPORT std::ostream &
operator <<
(std::ostream &s,
const
vpRotationMatrix
&m);
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vpRotationMatrix
buildFrom(
const
vpThetaUVector
&v) ;
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vpRotationMatrix
buildFrom(
const
vpRzyzVector
&v) ;
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vpRotationMatrix
buildFrom(
const
vpRxyzVector
&v) ;
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vpRotationMatrix
buildFrom(
const
vpRzyxVector
&v) ;
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vpRotationMatrix
buildFrom(
const
double
tux,
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const
double
tuy,
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const
double
tuz) ;
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vpRotationMatrix
buildFrom(
const
vpQuaternionVector
& q);
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private
:
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static
const
double
threshold;
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static
const
double
minimum;
// useful only for debug
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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
vpRotationMatrix.h
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