42 #include <visp3/core/vpRzyzVector.h>
103 if ((fabs(R[1][2]) < 1e-6) && (fabs(R[0][2]) < 1e-6))
106 phi = atan2(R[1][2], R[0][2]);
107 double cphi = cos(phi);
108 double sphi = sin(phi);
110 double theta = atan2(cphi * R[0][2] + sphi * R[1][2], R[2][2]);
112 double psi = atan2(-sphi * R[0][0] + cphi * R[1][0], -sphi * R[0][1] + cphi * R[1][1]);
139 if (rzyz.
size() != 3) {
143 for (
unsigned int i = 0; i < 3; i++)
155 if (rzyz.size() != 3) {
159 for (
unsigned int i = 0; i < 3; i++)
186 for (
unsigned int i = 0; i <
dsize; i++)
230 if (rzyz.
size() != 3) {
234 for (
unsigned int i = 0; i < 3; i++)
240 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
260 if (list.size() >
size()) {
263 std::copy(list.begin(), list.end(),
data);