vpGenericFeature.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:
 * Generic feature (used to create new feature not implemented in ViSP).
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/



#ifndef vpGenericFeature_hh
#define vpGenericFeature_hh

#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpBasicFeature.h>
#include <visp3/core/vpRGBa.h>

#include <math.h>

class VISP_EXPORT vpGenericFeature : public vpBasicFeature
{
private:
  vpGenericFeature() ;

public:
  vpGenericFeature(unsigned int dim) ;
  virtual ~vpGenericFeature() ;

  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 ;

  vpGenericFeature *duplicate() const ;


  vpColVector error(const vpBasicFeature &s_star,
                    const unsigned int select = FEATURE_ALL)  ;

  vpColVector error(const unsigned int select = FEATURE_ALL)  ;

  vpMatrix getInteractionMatrix() const { return L ; }
  void get_s(vpColVector &s) const;
  void get_s(double &s0) const;
  void get_s(double &s0, double &s1) const;
  void get_s(double &s0, double &s1, double &s2) const;

  void init() ;

  vpMatrix  interaction(const unsigned int select = FEATURE_ALL);

  void print(const unsigned int select = FEATURE_ALL ) const ;
  void setInteractionMatrix(const vpMatrix &L) ;
  void setError(const vpColVector &error_vector)  ;
  void set_s(const vpColVector &s) ;
  void set_s(const double s0) ;
  void set_s(const double s0, const double s1) ;
  void set_s(const double s0, const double s1, const double s2) ;


private:
  typedef enum
  {
    errorNotInitalized,
    errorInitialized,
    errorHasToBeUpdated
  } vpGenericFeatureErrorType;

  vpMatrix L ;
  vpColVector err ;
  vpGenericFeatureErrorType errorStatus ;
} ;

#endif