vpFeatureThetaU.h

/****************************************************************************
 *
 * $Id: vpFeatureThetaU.h 4574 2014-01-09 08:48:51Z 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:
 * ThetaU visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#ifndef vpFeatureThetaU_H
#define vpFeatureThetaU_H

#include <visp/vpMatrix.h>
#include <visp/vpThetaUVector.h>
#include <visp/vpBasicFeature.h>

#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRGBa.h>


class VISP_EXPORT vpFeatureThetaU : public vpBasicFeature
{
public:
  typedef enum
    {
      TUx = 1, 
      TUy = 2, 
      TUz = 4  
    } vpFeatureThetaUType;
  typedef enum
    {
      cdRc, 
      cRcd 
    } vpFeatureThetaURotationRepresentationType;
  /*
    attributes and members directly related to the vpBasicFeature needs
    other functionalities are useful but not mandatory
  */

public:
  // Basic construction.
  void init() ;
  // Basic constructor.
  vpFeatureThetaU(vpFeatureThetaURotationRepresentationType r) ;
  vpFeatureThetaU(vpThetaUVector &tu,
          vpFeatureThetaURotationRepresentationType r) ;
  vpFeatureThetaU(vpRotationMatrix &R,
          vpFeatureThetaURotationRepresentationType r) ;
  vpFeatureThetaU(vpHomogeneousMatrix &M, 
          vpFeatureThetaURotationRepresentationType r) ;
  void buildFrom(vpThetaUVector &tu) ;
  // build from a rotation matrix
  void buildFrom(const vpRotationMatrix &R) ;
  // build from an homogeneous  matrix
  void buildFrom(const vpHomogeneousMatrix &M) ;

          
  virtual ~vpFeatureThetaU() { if (flags != NULL) delete [] flags; /*vpTRACE("0x%x", this)*/ ;}

public:


  void set_TUx(const double tu_x) ;
  void set_TUy(const double tu_y) ;
  void set_TUz(const double tu_z) ;

  double get_TUx()  const ;
  double get_TUy()   const ;
  double get_TUz() const  ;


public:
  /*
    vpBasicFeature method instantiation
  */

  inline static unsigned int selectTUx()  { return FEATURE_LINE[0] ; }
  inline static unsigned int selectTUy()  { return FEATURE_LINE[1] ; }
  inline static unsigned int selectTUz()  { return FEATURE_LINE[2] ; }
  // compute the interaction matrix from a subset a the possible features
  vpMatrix  interaction(const unsigned int select = FEATURE_ALL);
  // compute the error between two visual features from a subset
  // a the possible features
  vpColVector error(const vpBasicFeature &s_star,
                    const unsigned int select = FEATURE_ALL)  ;
  void print(const unsigned int select= FEATURE_ALL) const ;

  vpFeatureThetaU *duplicate() const ;

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

 private:
  vpFeatureThetaURotationRepresentationType rotation;
} ;


#endif

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