Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
HelloWorld.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Hello world example.
33 *
34*****************************************************************************/
35
36#include <iostream>
37#include <limits>
38#include <visp3/core/vpMath.h>
39#include <visp3/core/vpRotationMatrix.h>
40#include <visp3/core/vpThetaUVector.h>
41
42int main()
43{
44 try {
46
47 // Construct a rotation matrix from the theta U angles
48 vpRotationMatrix R(vpMath::rad(0.), vpMath::rad(180) + 100 * std::numeric_limits<double>::epsilon(), 0.);
49
50 // Extract the theta U angles from a rotation matrix
51 tu.buildFrom(R);
52
53 // Since the rotation vector is 3 values column vector, the
54 // transpose operation produce a row vector.
55 vpRowVector tu_t = tu.t();
56
57 // Print the transpose row vector
58 std::cout << tu_t << std::endl;
59 return EXIT_SUCCESS;
60 }
61 catch (const vpException &e) {
62 std::cout << "Catch an exception: " << e << std::endl;
63 return EXIT_FAILURE;
64 }
65}
error that can be emitted by ViSP classes.
Definition vpException.h:59
static double rad(double deg)
Definition vpMath.h:116
Implementation of a rotation matrix and operations on such kind of matrices.
vpRowVector t() const
Implementation of row vector and the associated operations.
Implementation of a rotation vector as axis-angle minimal representation.
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)