43 #include <visp3/core/vpRxyzVector.h>
104 double COEF_MIN_ROT = 1e-6;
107 if ((fabs(R[1][2]) < COEF_MIN_ROT) && (fabs(R[2][2]) < COEF_MIN_ROT))
110 phi = atan2(-R[1][2], R[2][2]);
112 double si = sin(phi);
113 double co = cos(phi);
114 double theta = atan2(R[0][2], -si * R[1][2] + co * R[2][2]);
115 double psi = atan2(co * R[1][0] + si * R[2][0], co * R[1][1] + si * R[2][1]);
155 if (rxyz.
size() != 3) {
159 for (
unsigned int i = 0; i < 3; i++)
170 if (rxyz.size() != 3) {
174 for (
unsigned int i = 0; i < 3; i++)
201 for (
unsigned int i = 0; i <
dsize; i++)
232 if (rxyz.
size() != 3) {
236 for (
unsigned int i = 0; i < 3; i++)
242 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
262 if (list.size() >
size()) {
265 std::copy(list.begin(), list.end(),
data);