Visual Servoing Platform version 3.5.0
vpGenericFeature.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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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.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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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 * Generic feature (used to create new feature not implemented in ViSP).
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpGenericFeature_hh
40#define vpGenericFeature_hh
41
48#include <visp3/core/vpMatrix.h>
49#include <visp3/core/vpRGBa.h>
50#include <visp3/visual_features/vpBasicFeature.h>
51
52#include <math.h>
53
182class VISP_EXPORT vpGenericFeature : public vpBasicFeature
183{
184private:
186
187public:
188 explicit vpGenericFeature(unsigned int dim);
189 virtual ~vpGenericFeature();
190
191 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
192 unsigned int thickness = 1) const;
193 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
194 unsigned int thickness = 1) const;
195
197
198 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
199
200 vpColVector error(unsigned int select = FEATURE_ALL);
201
202 vpMatrix getInteractionMatrix() const { return L; }
203 void get_s(vpColVector &s) const;
204 void get_s(double &s0) const;
205 void get_s(double &s0, double &s1) const;
206 void get_s(double &s0, double &s1, double &s2) const;
207
208 void init();
209
210 vpMatrix interaction(unsigned int select = FEATURE_ALL);
211
212 void print(unsigned int select = FEATURE_ALL) const;
213 void setInteractionMatrix(const vpMatrix &L);
214 void setError(const vpColVector &error_vector);
215 void set_s(const vpColVector &s);
216 void set_s(const double s0);
217 void set_s(const double s0, const double s1);
218 void set_s(const double s0, const double s1, const double s2);
219
220private:
221 typedef enum { errorNotInitalized, errorInitialized, errorHasToBeUpdated } vpGenericFeatureErrorType;
222
223 vpMatrix L;
224 vpColVector err;
225 vpGenericFeatureErrorType errorStatus;
226};
227
228#endif
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
virtual void init()=0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
vpColVector get_s(unsigned int select=FEATURE_ALL) const
Get the feature vector .
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpBasicFeature * duplicate() const =0
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor green
Definition: vpColor.h:220
Class that enables to define a feature or a set of features which are not implemented in ViSP as a sp...
vpMatrix getInteractionMatrix() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154