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Doxygen doc indentation
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@fspindle
fspindle committed Mar 13, 2024
1 parent 8f0c01c commit d478399
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Showing 6 changed files with 217 additions and 227 deletions.
48 changes: 24 additions & 24 deletions modules/core/include/visp3/core/vpRxyzVector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -137,37 +137,37 @@ class vpThetaUVector;
from the build rotation matrix.
\code
#include <iostream>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRxyzVector.h>
#include <iostream>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRxyzVector.h>
int main()
{
vpRxyzVector rxyz;
int main()
{
vpRxyzVector rxyz;
// Initialise the Euler angles
rxyz[0] = vpMath::rad( 45.f); // phi angle in rad around x axis
rxyz[1] = vpMath::rad(-30.f); // theta angle in rad around y axis
rxyz[2] = vpMath::rad( 90.f); // psi angle in rad around z axis
// Initialise the Euler angles
rxyz[0] = vpMath::rad( 45.f); // phi angle in rad around x axis
rxyz[1] = vpMath::rad(-30.f); // theta angle in rad around y axis
rxyz[2] = vpMath::rad( 90.f); // psi angle in rad around z axis
// Construct a rotation matrix from the Euler angles
vpRotationMatrix R(rxyz);
// Construct a rotation matrix from the Euler angles
vpRotationMatrix R(rxyz);
// Extract the Euler angles around x,y,z axis from a rotation matrix
rxyz.buildFrom(R);
// Extract the Euler angles around x,y,z axis from a rotation matrix
rxyz.buildFrom(R);
// Print the extracted Euler angles. Values are the same than the
// one used for initialization
std::cout << rxyz;
// Print the extracted Euler angles. Values are the same than the
// one used for initialization
std::cout << rxyz;
// Since the rotation vector is 3 values column vector, the
// transpose operation produce a row vector.
vpRowVector rxyz_t = rxyz.t();
// Since the rotation vector is 3 values column vector, the
// transpose operation produce a row vector.
vpRowVector rxyz_t = rxyz.t();
// Print the transpose row vector
std::cout << rxyz_t << std::endl;
}
// Print the transpose row vector
std::cout << rxyz_t << std::endl;
}
\endcode
*/
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68 changes: 33 additions & 35 deletions modules/core/src/math/transformation/vpRxyzVector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,7 @@
* Description:
* Rxyz angle parameterization for the rotation.
* Rxyz(phi,theta,psi) = Rot(x,phi)Rot(y,theta)Rot(z,psi).
*
*****************************************************************************/
*/

#include <math.h>

Expand Down Expand Up @@ -170,18 +169,18 @@ vpRxyzVector vpRxyzVector::buildFrom(const std::vector<double> &rxyz)
\param v : Angle value to set for each element of the vector.
\code
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRxyzVector.h>
\code
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRxyzVector.h>
int main()
{
vpRxyzVector v;
int main()
{
vpRxyzVector v;
// Initialise the rotation vector
v = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}
\endcode
// Initialise the rotation vector
v = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}
\endcode
*/
vpRxyzVector &vpRxyzVector::operator=(double v)
{
Expand All @@ -196,23 +195,22 @@ vpRxyzVector &vpRxyzVector::operator=(double v)
Copy operator that initializes a \f$R_{xyz}=(\varphi,\theta,\psi)\f$
Euler angles vector from a 3-dimension column vector.
\param rxyz : 3-dimension vector containing the values of the rotation
vector.
\code
#include <visp3/core/vpRxyzVector.h>
\param rxyz : 3-dimension vector containing the values of the rotation vector.
int main()
{
vpColVector v(3);
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
vpRxyzVector rxyz;
rxyz = v;
// rxyz is now equal to v : 0.1, 0.2, 0.3
}
\endcode
\code
#include <visp3/core/vpRxyzVector.h>
int main()
{
vpColVector v(3);
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
vpRxyzVector rxyz;
rxyz = v;
// rxyz is now equal to v : 0.1, 0.2, 0.3
}
\endcode
*/
vpRxyzVector &vpRxyzVector::operator=(const vpColVector &rxyz)
{
Expand All @@ -230,17 +228,17 @@ vpRxyzVector &vpRxyzVector::operator=(const vpColVector &rxyz)
/*!
Set vector from a list of 3 double angle values in radians.
\code
#include <visp3/core/vpRxyzVector.cpp>
#include <visp3/core/vpRxyzVector.cpp>
int main()
{
vpRxyzVector rxyz = {M_PI, 0, M_PI_2};
std::cout << "rxyz: " << rxyz.t() << std::endl;
}
int main()
{
vpRxyzVector rxyz = {M_PI, 0, M_PI_2};
std::cout << "rxyz: " << rxyz.t() << std::endl;
}
\endcode
It produces the following printings:
\code
rxyz: 3.141592654 0 1.570796327
rxyz: 3.141592654 0 1.570796327
\endcode
\sa operator<<()
*/
Expand Down
65 changes: 32 additions & 33 deletions modules/core/src/math/transformation/vpRzyxVector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -176,18 +176,18 @@ vpRzyxVector vpRzyxVector::buildFrom(const std::vector<double> &rzyx)
\param v : Angle value to set for each element of the vector.
\code
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRzyxVector.h>
\code
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRzyxVector.h>
int main()
{
vpRzyxVector v;
int main()
{
vpRzyxVector v;
// Initialise the rotation vector
v = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}
\endcode
// Initialise the rotation vector
v = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}
\endcode
*/
vpRzyxVector &vpRzyxVector::operator=(double v)
{
Expand All @@ -202,23 +202,22 @@ vpRzyxVector &vpRzyxVector::operator=(double v)
Copy operator that initializes a \f$R_{zyx}=(\varphi,\theta,\psi)\f$ Euler
angles vector from a 3-dimension column vector.
\param rzyx : 3-dimension vector containing the values of the rotation
vector.
\code
#include <visp3/core/vpRzyxVector.h>
\param rzyx : 3-dimension vector containing the values of the rotation vector.
int main()
{
vpColVector v(3);
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
vpRzyxVector rzyx;
rzyx = v;
// rzyx is now equal to v : 0.1, 0.2, 0.3
}
\endcode
\code
#include <visp3/core/vpRzyxVector.h>
int main()
{
vpColVector v(3);
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
vpRzyxVector rzyx;
rzyx = v;
// rzyx is now equal to v : 0.1, 0.2, 0.3
}
\endcode
*/
vpRzyxVector &vpRzyxVector::operator=(const vpColVector &rzyx)
{
Expand All @@ -236,17 +235,17 @@ vpRzyxVector &vpRzyxVector::operator=(const vpColVector &rzyx)
/*!
Set vector from a list of 3 double angle values in radians.
\code
#include <visp3/core/vpRzyxVector.cpp>
#include <visp3/core/vpRzyxVector.cpp>
int main()
{
vpRzyxVector rzyx = {M_PI, 0, M_PI_2};
std::cout << "rzyx: " << rzyx.t() << std::endl;
}
int main()
{
vpRzyxVector rzyx = {M_PI, 0, M_PI_2};
std::cout << "rzyx: " << rzyx.t() << std::endl;
}
\endcode
It produces the following printings:
\code
rzyx: 3.141592654 0 1.570796327
zyx: 3.141592654 0 1.570796327
\endcode
\sa operator<<()
*/
Expand Down
68 changes: 33 additions & 35 deletions modules/core/src/math/transformation/vpRzyzVector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,7 @@
* Description:
* Euler angles parameterization for the rotation.
* Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
*
*****************************************************************************/
*/

#include <math.h>
#include <visp3/core/vpRzyzVector.h>
Expand Down Expand Up @@ -154,18 +153,18 @@ vpRzyzVector vpRzyzVector::buildFrom(const std::vector<double> &rzyz)
\param v : Angle value to set for each element of the vector.
\code
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRzyzVector.h>
\code
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRzyzVector.h>
int main()
{
vpRzyzVector r;
int main()
{
vpRzyzVector r;
// Initialise the rotation vector
r = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}
\endcode
// Initialise the rotation vector
r = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
}
\endcode
*/
vpRzyzVector &vpRzyzVector::operator=(double v)
{
Expand Down Expand Up @@ -193,23 +192,22 @@ void vpRzyzVector::buildFrom(double phi, double theta, double psi)
Copy operator that initializes a \f$R_{zyz}=(\varphi,\theta,\psi)\f$
Euler angles vector from a 3-dimension column vector.
\param rzyz : 3-dimension vector containing the values of the rotation
vector.
\code
#include <visp3/core/vpRzyzVector.h>
\param rzyz : 3-dimension vector containing the values of the rotation vector.
int main()
{
vpColVector v(3);
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
vpRzyxVector rzyz;
rzyz = v;
// rzyz is now equal to v : 0.1, 0.2, 0.3
}
\endcode
\code
#include <visp3/core/vpRzyzVector.h>
int main()
{
vpColVector v(3);
v[0] = 0.1;
v[1] = 0.2;
v[2] = 0.3;
vpRzyxVector rzyz;
rzyz = v;
// rzyz is now equal to v : 0.1, 0.2, 0.3
}
\endcode
*/
vpRzyzVector &vpRzyzVector::operator=(const vpColVector &rzyz)
{
Expand All @@ -227,17 +225,17 @@ vpRzyzVector &vpRzyzVector::operator=(const vpColVector &rzyz)
/*!
Set vector from a list of 3 double angle values in radians.
\code
#include <visp3/core/vpRzyzVector.cpp>
#include <visp3/core/vpRzyzVector.cpp>
int main()
{
vpRzyzVector rzyz = {M_PI, 0, M_PI_2};
std::cout << "rzyz: " << rzyz.t() << std::endl;
}
int main()
{
vpRzyzVector rzyz = {M_PI, 0, M_PI_2};
std::cout << "rzyz: " << rzyz.t() << std::endl;
}
\endcode
It produces the following printings:
\code
rzyz: 3.141592654 0 1.570796327
rzyz: 3.141592654 0 1.570796327
\endcode
\sa operator<<()
*/
Expand Down
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