vpGenericFeature.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:
 * 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/core/vpRGBa.h>
#include <visp3/visual_features/vpBasicFeature.h>

#include <math.h>

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

public:
  explicit 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, unsigned int select = FEATURE_ALL);

  vpColVector error(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(unsigned int select = FEATURE_ALL);

  void print(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