vpCylinder.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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:
 * Cylinder feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#ifndef vpCylinder_hh
#define vpCylinder_hh

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

#include <visp3/core/vpForwardProjection.h>

class VISP_EXPORT vpCylinder : public vpForwardProjection
{
public:
  typedef enum
  {
    line1, 
    line2  
  } vpLineCylinderType;

  vpCylinder() ;
  vpCylinder(const vpColVector& oP) ;
  vpCylinder(const double A, const double B,
             const double C,
             const double X0, const double Y0,
             const double Z0,
             const double R) ;
  virtual ~vpCylinder() ;

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

  double computeZ(const double x, const double y) const;

  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) ;

  vpCylinder *duplicate() const ;

  double getRho1()   const { return p[0] ; }
  double getTheta1() const { return p[1] ; }

  double getRho2()   const { return p[2] ; }
  double getTheta2() const { return p[3] ; }

  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 init() ;

  void projection() ;
  void projection(const vpColVector &cP, vpColVector &p) ;

  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) ;
} ;


#endif