Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpForwardProjection.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Forward projection.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpDebug.h>
40 #include <visp3/core/vpForwardProjection.h>
41 
54 {
55  std::cout << "oP : " << oP.t();
56  std::cout << "cP : " << cP.t();
57  std::cout << "p : " << p.t();
58 }
59 
69 
85 {
86  try {
87  changeFrame(cMo);
88  projection();
89  } catch (...) {
90  vpERROR_TRACE("Error caught");
91  throw;
92  }
93 }
94 
112 {
113  try {
114  project(cMo);
115  } catch (...) {
116  vpERROR_TRACE("Error caught");
117  throw;
118  }
119 }
120 
121 /*
122  * Local variables:
123  * c-basic-offset: 2
124  * End:
125  */
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
#define vpERROR_TRACE
Definition: vpDebug.h:393
void track(const vpHomogeneousMatrix &cMo)
vpColVector cP
Definition: vpTracker.h:75
virtual void projection()=0
virtual void print() const
vpRowVector t() const
vpColVector p
Definition: vpTracker.h:71