Visual Servoing Platform version 3.6.0
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vpGenericFeature.h
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 * Generic feature (used to create new feature not implemented in ViSP).
33 *
34*****************************************************************************/
35
36#ifndef vpGenericFeature_hh
37#define vpGenericFeature_hh
38
45#include <visp3/core/vpMatrix.h>
46#include <visp3/core/vpRGBa.h>
47#include <visp3/visual_features/vpBasicFeature.h>
48
49#include <math.h>
50
179class VISP_EXPORT vpGenericFeature : public vpBasicFeature
180{
181private:
183
184public:
185 explicit vpGenericFeature(unsigned int dim);
186 virtual ~vpGenericFeature();
187
188 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
189 unsigned int thickness = 1) const;
190 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
191 unsigned int thickness = 1) const;
192
194
195 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
196
197 vpColVector error(unsigned int select = FEATURE_ALL);
198
199 vpMatrix getInteractionMatrix() const { return L; }
200 void get_s(vpColVector &s) const;
201 void get_s(double &s0) const;
202 void get_s(double &s0, double &s1) const;
203 void get_s(double &s0, double &s1, double &s2) const;
204
205 void init();
206
207 vpMatrix interaction(unsigned int select = FEATURE_ALL);
208
209 void print(unsigned int select = FEATURE_ALL) const;
210 void setInteractionMatrix(const vpMatrix &L);
211 void setError(const vpColVector &error_vector);
212 void set_s(const vpColVector &s);
213 void set_s(const double s0);
214 void set_s(const double s0, const double s1);
215 void set_s(const double s0, const double s1, const double s2);
216
217private:
218 typedef enum { errorNotInitalized, errorInitialized, errorHasToBeUpdated } vpGenericFeatureErrorType;
219
220 vpMatrix L;
221 vpColVector err;
222 vpGenericFeatureErrorType errorStatus;
223};
224
225#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.
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
static const vpColor green
Definition vpColor.h:214
Class that enables to define a feature or a set of features which are not implemented in ViSP as a sp...
vpMatrix getInteractionMatrix() const
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152