vpBasicFeature.h

/****************************************************************************
 *
 * $Id: vpBasicFeature.h 4632 2014-02-03 17:06:40Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Visual feature.
 *
 * Authors:
 * Eric Marchand
 * Nicolas Mansard
 *
 *****************************************************************************/



#ifndef vpBasicFeature_H
#define vpBasicFeature_H

#include <visp/vpMatrix.h>
#include <visp/vpColVector.h>

// Display Issue

// Meter/pixel conversion
#include <visp/vpCameraParameters.h>

//Color / image / display
#include <visp/vpColor.h>
#include <visp/vpImage.h>
#include <visp/vpRGBa.h>

// #define FEATURE_ALL 0xff

// #define FEATURE_LINE1 0x1
// #define FEATURE_LINE2 0x2
// #define FEATURE_LINE3 0x4
// #define FEATURE_LINE4 0x8
// #define FEATURE_LINE5 0x10
// #define FEATURE_LINE6 0x20
// #define FEATURE_LINE7 0x40
// #define FEATURE_LINE8 0x80


class VISP_EXPORT vpBasicFeature
{
public: // Public constantes
  static const unsigned int FEATURE_LINE [32];

  static const unsigned int FEATURE_ALL;

protected:
  vpColVector s ;
  unsigned int dim_s ;
  //int featureLine[8] ;
  bool *flags;
  unsigned int nbParameters;

public:
  unsigned int dimension_s() { return dim_s ; }

public:

  virtual void init() = 0 ;

  vpBasicFeature() ;
  vpBasicFeature(const vpBasicFeature &f) ;
  vpBasicFeature &operator=(const vpBasicFeature &f) ;
  virtual ~vpBasicFeature() { /*vpTRACE("0x%x", this)*/; }
  virtual inline double operator[](const unsigned int i) const {  return s[i]; }

  static  unsigned int selectAll()  { return FEATURE_ALL ; }

  // Get the feature vector.
  vpColVector get_s(unsigned int select=FEATURE_ALL) const;

  // Get the feature vector dimension.
  unsigned int getDimension(const unsigned int select=FEATURE_ALL) const;
  virtual vpMatrix interaction(const unsigned int select = FEATURE_ALL) = 0;
  virtual vpColVector error(const vpBasicFeature &s_star,
                            const unsigned int select= FEATURE_ALL);
  virtual void print(const unsigned int select= FEATURE_ALL) const = 0 ;

  virtual vpBasicFeature *duplicate() const = 0 ;

public:
  virtual void display(const vpCameraParameters &cam,
                       const vpImage<unsigned char> &I,
                       const vpColor &color=vpColor::green,
                       unsigned int thickness=1) const = 0;
  virtual void display(const vpCameraParameters &cam,
                       const vpImage<vpRGBa> &I,
                       const vpColor &color=vpColor::green,
                       unsigned int thickness=1) const = 0;

  void setFlags();

protected:
  void resetFlags();
  // memory issue (used by the vpServo class)
public:

  typedef enum
  {
    user,
    vpServo
  } vpBasicFeatureDeallocatorType;

protected:
  vpBasicFeatureDeallocatorType deallocate ;
public:
  void setDeallocate(vpBasicFeatureDeallocatorType d) { deallocate = d ; }
  vpBasicFeatureDeallocatorType getDeallocate() { return deallocate ; }
} ;

#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */