/usr/include/visp/vpRotationMatrix.h is in libvisp-dev 2.8.0-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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*
* $Id: vpRotationMatrix.h 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 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:
* Rotation matrix.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#ifndef vpROTATIONMATRIX_H
#define vpROTATIONMATRIX_H
/*!
\file vpRotationMatrix.h
\brief Class that consider the particular case of rotation matrix
*/
#include <visp/vpMatrix.h>
#include <visp/vpRxyzVector.h>
#include <visp/vpRzyxVector.h>
#include <visp/vpRzyzVector.h>
#include <visp/vpThetaUVector.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpQuaternionVector.h>
/*!
\class vpRotationMatrix
\ingroup RotTransformation
\brief The vpRotationMatrix considers the particular case of
a rotation matrix.
It is derived from vpMatrix.
\author Eric Marchand (Eric.Marchand@irisa.fr) Irisa / Inria Rennes
*/
class VISP_EXPORT vpRotationMatrix : public vpMatrix
{
friend class vpMatrix;
friend class vpRxyzVector;
friend class vpRzyzVector;
friend class vpRzyxVector;
friend class vpThetaUVector;
friend class vpTranslationVector;
public:
//! Basic initialisation (identity)
void init() ;
//! Basic initialisation (identity)
void setIdentity() ;
void eye();
//! basic constructor
vpRotationMatrix() ;
//! copy constructor
vpRotationMatrix(const vpRotationMatrix &R) ;
//! Construction from rotation (theta U parameterization)
vpRotationMatrix(const vpThetaUVector &r) ;
//! Construction from rotation (Euler parameterization)
vpRotationMatrix(const vpRzyzVector &r) ;
//! Construction from rotation Rxyz
vpRotationMatrix(const vpRxyzVector &r) ;
//! Construction from rotation Rzyx
vpRotationMatrix(const vpRzyxVector &r) ;
//! Construction from rotation (theta U parameterization)
vpRotationMatrix(const double tux, const double tuy, const double tuz) ;
vpRotationMatrix(const vpQuaternionVector& q);
//! copy operator from vpRotationMatrix
vpRotationMatrix &operator=(const vpRotationMatrix &R);
//! copy operator from vpMatrix (handle with care)
vpRotationMatrix &operator=(const vpMatrix &m) ;
//! operation c = A * b (A is unchanged)
vpTranslationVector operator*(const vpTranslationVector &mat) const ;
//! operation C = A * B (A is unchanged)
vpRotationMatrix operator*(const vpRotationMatrix &B) const ;
//! operation C = A * B (A is unchanged)
vpMatrix operator*(const vpMatrix &B) const ;
// operation v2 = A * v1 (A is unchanged)
vpColVector operator*(const vpColVector &v) const ;
//! overload + operator (to say it forbidden operation, throw exception)
vpRotationMatrix operator+(const vpRotationMatrix &B) const ;
//! overload - operator (to say it forbidden operation, throw exception)
vpRotationMatrix operator-(const vpRotationMatrix &B) const ;
//! transpose
vpRotationMatrix t() const ;
//! invert the rotation matrix
vpRotationMatrix inverse() const ;
//! invert the rotation matrix
void inverse(vpRotationMatrix &M) const;
//! test if the matrix is an rotation matrix
bool isARotationMatrix() const ;
//! Print the matrix as a vector [T thetaU]
void printVector() ;
friend VISP_EXPORT std::ostream &operator << (std::ostream &s, const vpRotationMatrix &m);
//! Transform a vector vpThetaUVector into an rotation matrix
vpRotationMatrix buildFrom(const vpThetaUVector &v) ;
//! Transform a vector reprensenting the euler (Rzyz) angle
//! into a rotation matrix
vpRotationMatrix buildFrom(const vpRzyzVector &v) ;
//! Transform a vector reprensenting the Rxyz angle into a rotation matrix
vpRotationMatrix buildFrom(const vpRxyzVector &v) ;
//! Transform a vector reprensenting the Rzyx angle into a rotation matrix
vpRotationMatrix buildFrom(const vpRzyxVector &v) ;
//! Construction from rotation (theta U parameterization)
vpRotationMatrix buildFrom(const double tux,
const double tuy,
const double tuz) ;
vpRotationMatrix buildFrom(const vpQuaternionVector& q);
private:
static const double threshold;
static const double minimum; // useful only for debug
};
#endif
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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