Visual Servoing Platform version 3.5.0
vpFeatureThetaU.h
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30 *
31 * Description:
32 * ThetaU visual feature.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
40#ifndef vpFeatureThetaU_H
41#define vpFeatureThetaU_H
42
48#include <visp3/core/vpMatrix.h>
49#include <visp3/core/vpThetaUVector.h>
50#include <visp3/visual_features/vpBasicFeature.h>
51
52#include <visp3/core/vpHomogeneousMatrix.h>
53#include <visp3/core/vpRGBa.h>
54
224class VISP_EXPORT vpFeatureThetaU : public vpBasicFeature
225{
226public:
227 typedef enum {
228 TUx = 1,
230 TUy = 2,
232 TUz = 4
234 } vpFeatureThetaUType;
235 typedef enum {
236 cdRc,
240 cRcd
244 } vpFeatureThetaURotationRepresentationType;
245 /*
246 attributes and members directly related to the vpBasicFeature needs
247 other functionalities are useful but not mandatory
248 */
249
250public:
251 // Basic constructor.
253 explicit vpFeatureThetaU(vpFeatureThetaURotationRepresentationType r);
254 vpFeatureThetaU(vpThetaUVector &tu, vpFeatureThetaURotationRepresentationType r);
255 vpFeatureThetaU(vpRotationMatrix &R, vpFeatureThetaURotationRepresentationType r);
256 vpFeatureThetaU(vpHomogeneousMatrix &M, vpFeatureThetaURotationRepresentationType r);
258 virtual ~vpFeatureThetaU() {}
259
260 void buildFrom(vpThetaUVector &tu);
261 // build from a rotation matrix
262 void buildFrom(const vpRotationMatrix &R);
263 // build from an homogeneous matrix
264 void buildFrom(const vpHomogeneousMatrix &M);
265
266 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
267 unsigned int thickness = 1) const;
268 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
269 unsigned int thickness = 1) const;
270
272 vpFeatureThetaU *duplicate() const;
273
274 // compute the error between two visual features from a subset
275 // a the possible features
276 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
277
278 vpFeatureThetaURotationRepresentationType getFeatureThetaURotationType() const;
279
280 double get_TUx() const;
281 double get_TUy() const;
282 double get_TUz() const;
283
284 // Basic construction.
285 void init();
286 // compute the interaction matrix from a subset a the possible features
287 vpMatrix interaction(unsigned int select = FEATURE_ALL);
288
289 void print(unsigned int select = FEATURE_ALL) const;
290
291 void set_TUx(double tu_x);
292 void set_TUy(double tu_y);
293 void set_TUz(double tu_z);
294
295 void setFeatureThetaURotationType(const vpFeatureThetaURotationRepresentationType r);
296
297public:
298 /*
299 vpBasicFeature method instantiation
300 */
301 static unsigned int selectTUx();
302 static unsigned int selectTUy();
303 static unsigned int selectTUz();
304
305private:
306 vpFeatureThetaURotationRepresentationType rotation;
307};
308
309#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.
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 defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
virtual ~vpFeatureThetaU()
Destructor. Does nothing.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.