vpForwardProjection.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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:
 * Forward projection.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#include <visp3/core/vpDebug.h>
#include <visp3/core/vpForwardProjection.h>

void vpForwardProjection::print() const
{
  std::cout << "oP : " << oP.t();
  std::cout << "cP : " << cP.t();
  std::cout << "p : " << p.t();
}

void vpForwardProjection::project() { projection(cP, p); }

void vpForwardProjection::project(const vpHomogeneousMatrix &cMo)
{
  try {
    changeFrame(cMo);
    projection();
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

void vpForwardProjection::track(const vpHomogeneousMatrix &cMo)
{
  try {
    project(cMo);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

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