vpCircle.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 circle.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpCircle_hh
#define vpCircle_hh

#include <visp3/core/vpHomogeneousMatrix.h>
#include <math.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpForwardProjection.h>

class VISP_EXPORT vpCircle : public vpForwardProjection
{
public:
  void init() ;
  vpCircle() ;
  vpCircle(const vpColVector& oP) ;
  vpCircle(const double A, const double B,
       const double C,
       const double X0, const double Y0,
       const double Z0,
       const double R) ;
  virtual ~vpCircle() ;


  void setWorldCoordinates(const vpColVector& oP) ;
  void setWorldCoordinates(const double A, const double B,
               const double C,
               const double X0, const double Y0,
               const double Z0,
               const double R) ;


  double getA() const { return cP[0] ; }
  double getB()  const{ return cP[1] ; }
  double getC() const { return cP[2] ; }

  double getX() const { return cP[3] ; }
  double getY() const { return cP[4] ; }
  double getZ()  const{ return cP[5] ; }

  double getR() const { return cP[6] ; }



  void projection() ;
  void projection(const vpColVector &cP, vpColVector &p) ;
  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) ;
  void changeFrame(const vpHomogeneousMatrix &cMo)  ;


  void display(const vpImage<unsigned char> &I,
               const vpCameraParameters &cam,
               const vpColor &color=vpColor::green,
               const unsigned int thickness=1) ;
  void display(const vpImage<unsigned char> &I,
               const vpHomogeneousMatrix &cMo,
               const vpCameraParameters &cam,
               const vpColor &color=vpColor::green,
               const unsigned int thickness=1) ;
  vpCircle *duplicate() const ;

  //###################
  // Static Functions
  //###################

  public:
  static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho, const double &theta, double &i, double &j);

} ;


#endif