vpFeatureThetaU.h

/****************************************************************************
 *
 * 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:
 * ThetaU visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpFeatureThetaU_H
#define vpFeatureThetaU_H

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

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRGBa.h>

class VISP_EXPORT vpFeatureThetaU : public vpBasicFeature
{
public:
  typedef enum {
    TUx = 1, 
    TUy = 2, 
    TUz = 4  
  } vpFeatureThetaUType;
  typedef enum {
    cdRc, 
    cRcd  
  } vpFeatureThetaURotationRepresentationType;
  /*
    attributes and members directly related to the vpBasicFeature needs
    other functionalities are useful but not mandatory
  */

public:
  // Basic constructor.
  vpFeatureThetaU();
  explicit vpFeatureThetaU(vpFeatureThetaURotationRepresentationType r);
  vpFeatureThetaU(vpThetaUVector &tu, vpFeatureThetaURotationRepresentationType r);
  vpFeatureThetaU(vpRotationMatrix &R, vpFeatureThetaURotationRepresentationType r);
  vpFeatureThetaU(vpHomogeneousMatrix &M, vpFeatureThetaURotationRepresentationType r);
  virtual ~vpFeatureThetaU() {}

  void buildFrom(vpThetaUVector &tu);
  // build from a rotation matrix
  void buildFrom(const vpRotationMatrix &R);
  // build from an homogeneous  matrix
  void buildFrom(const vpHomogeneousMatrix &M);

  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;

  vpFeatureThetaU *duplicate() const;

  // compute the error between two visual features from a subset
  // a the possible features
  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);

  vpFeatureThetaURotationRepresentationType getFeatureThetaURotationType() const;

  double get_TUx() const;
  double get_TUy() const;
  double get_TUz() const;

  // Basic construction.
  void init();
  // compute the interaction matrix from a subset a the possible features
  vpMatrix interaction(unsigned int select = FEATURE_ALL);

  void print(unsigned int select = FEATURE_ALL) const;

  void set_TUx(double tu_x);
  void set_TUy(double tu_y);
  void set_TUz(double tu_z);

  void setFeatureThetaURotationType(const vpFeatureThetaURotationRepresentationType r);

public:
  /*
    vpBasicFeature method instantiation
  */
  static unsigned int selectTUx();
  static unsigned int selectTUy();
  static unsigned int selectTUz();

private:
  vpFeatureThetaURotationRepresentationType rotation;
};

#endif