Visual Servoing Platform
version 3.6.1 under development (2024-11-07)
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#include <visp3/visual_features/vpFeatureThetaU.h>
Public Types | |
enum | vpFeatureThetaUType { TUx = 1 , TUy = 2 , TUz = 4 } |
enum | vpFeatureThetaURotationRepresentationType { cdRc , cRcd } |
enum | vpBasicFeatureSelect { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user , vpServo } |
Static Public Member Functions | |
static unsigned int | selectTUx () |
static unsigned int | selectTUy () |
static unsigned int | selectTUz () |
Static Public Attributes | |
static const unsigned int | FEATURE_LINE [32] |
Protected Attributes | |
vpColVector | s |
unsigned int | dim_s |
bool * | flags |
unsigned int | nbParameters |
Inherited functionalities from vpBasicFeature | |
unsigned int | dimension_s () |
vpColVector | get_s (unsigned int select=FEATURE_ALL) const |
vpBasicFeatureDeallocatorType | getDeallocate () |
unsigned int | getDimension (unsigned int select=FEATURE_ALL) const |
virtual double | operator[] (unsigned int i) const |
void | setDeallocate (vpBasicFeatureDeallocatorType d) |
void | setFlags () |
static unsigned int | selectAll () |
vpBasicFeatureDeallocatorType | deallocate |
void | resetFlags () |
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotation between to frames.
Let us denote .
It is convenient to consider two coordinate frames: the current camera frame and the desired camera frame .
Let be the rotation matrix that gives the orientation of the current camera frame relative to the desired camera frame. Let to corresponding axis/angle representation of this rotation.
Furthermore, let the rotation matrix that gives the orientation of the desired camera frame relative to the current camera frame. Let to corresponding axis/angle representation of this rotation.
This class can be used to manipulate two kind of visual features:
with
where is a nul matrix, is the identity matrix, and for more readability and respectively the angle and the axis coordinates of the representation.
with
where is a nul matrix, is the identity matrix, and for more readability and respectively the angle and the axis coordinates of the representation.
The kind of visual feature is to set during the construction of the vpFeatureThetaU() object by using the selector vpFeatureThetaU::vpFeatureThetaURotationRepresentationType.
To initialize the feature you may use vpFeatureThetaU member functions like set_TUx(), set_TUy(), set_TUz(), or also build() functions.
Depending on the choice of the visual feature representation, the interaction() method allows to compute the interaction matrix associated to the visual feature, while the error() method computes the error vector between the current visual feature and the desired one.
To know more on the axis/angle representation for a 3D rotation see the vpThetaUVector class.
The code below shows how to create a eye-in hand visual servoing task using a 3D feature that correspond to the 3D rotation between the current camera frame and the desired camera frame. To control six degrees of freedom, at least three other features must be considered like vpFeatureTranslation visual features. First we create a current ( ) 3D feature, than set the task to use the interaction matrix associated to the current feature and than compute the camera velocity . The current feature is updated in the while() loop while is considered as zero.
If you want to deal only with the subset feature from the 3D , you have just to modify the addFeature() call in the previous example by the following line. In that case, the dimension of is two.
If you want to build your own control law, this other example shows how to create a current ( ) and desired ( ) 3D visual feature, compute the corresponding error vector and finally build the interaction matrix .
Definition at line 228 of file vpFeatureThetaU.h.
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Indicates who should deallocate the feature.
Enumerator | |
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user | |
vpServo |
Definition at line 88 of file vpBasicFeature.h.
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FEATURE_ALL |
Definition at line 83 of file vpBasicFeature.h.
Definition at line 240 of file vpFeatureThetaU.h.
Definition at line 231 of file vpFeatureThetaU.h.
vpFeatureThetaU::vpFeatureThetaU | ( | ) |
Constructor that builds a visual feature and initialize it to zero. The rotation representation of the visual feature will be vpFeatureThetaU::cdRc by default. Use the function setFeatureThetaURotationType() to set the desired type of feature.
Definition at line 86 of file vpFeatureThetaU.cpp.
References init().
Referenced by duplicate().
vpFeatureThetaU::vpFeatureThetaU | ( | vpFeatureThetaURotationRepresentationType | r | ) |
Constructor that builds a visual feature and initialize it to zero.
r | [in] : The rotation representation of the visual feature. |
Definition at line 99 of file vpFeatureThetaU.cpp.
References init().
vpFeatureThetaU::vpFeatureThetaU | ( | vpThetaUVector & | tu, |
vpFeatureThetaURotationRepresentationType | r | ||
) |
Constructor that build a 3D visual feature from a vector that represent the rotation the camera has to achieve.
tu | [in] : Rotation that the camera has to achieve in angle/axis representation. Depending on the rotation representation type (vpFeatureThetaU::vpFeatureThetaURotationRepresentationType) used to construct this object, the parameter tu represents either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ), or the rotation that the camera has to achieve to move from the current camera frame to the desired one ( ). |
r | [in] : The rotation representation of . |
Definition at line 127 of file vpFeatureThetaU.cpp.
References buildFrom(), and init().
vpFeatureThetaU::vpFeatureThetaU | ( | vpRotationMatrix & | R, |
vpFeatureThetaURotationRepresentationType | r | ||
) |
Constructor that build a 3D visual feature from a rotation matrix that represent the rotation that the camera has to achieve.
R | [in] : Rotation that the camera has to achieve. Depending on r this rotation represent either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ), or the rotation that the camera has to achieve to move from the current camera frame to the desired one ( ). |
r | [in] : The rotation representation of R. |
Definition at line 151 of file vpFeatureThetaU.cpp.
References buildFrom(), and init().
vpFeatureThetaU::vpFeatureThetaU | ( | vpHomogeneousMatrix & | M, |
vpFeatureThetaURotationRepresentationType | r | ||
) |
Constructor that build a 3D visual feature from an homogeneous matrix that represent the displacement that the camera has to achieve.
M | [in] : Homogeneous transformation that describe the movement that the camera has to achieve. Only the rotational part of this homogeneous transformation is taken into consideration. Depending on r the rotation represent either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ), or the rotation that the camera has to achieve to move from the current camera frame to the desired one ( ). |
r | [in] : The rotation representation of M. |
Definition at line 178 of file vpFeatureThetaU.cpp.
References buildFrom(), vpHomogeneousMatrix::extract(), and init().
vpFeatureThetaU & vpFeatureThetaU::buildFrom | ( | const vpHomogeneousMatrix & | M | ) |
Build a 3D visual feature from an homogeneous matrix that represent the displacement that the camera has to achieve.
M | [in] : Homogeneous transformation that describe the movement that the camera has to achieve. Only the rotational part of this homogeneous transformation is taken into consideration. Depending on the rotation representation type (vpFeatureThetaU::vpFeatureThetaURotationRepresentationType) used to construct this object, the parameter M represents either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ), or the rotation that the camera has to achieve to move from the current camera frame to the desired one ( ). |
Definition at line 254 of file vpFeatureThetaU.cpp.
References buildFrom(), and vpHomogeneousMatrix::extract().
vpFeatureThetaU & vpFeatureThetaU::buildFrom | ( | const vpRotationMatrix & | R | ) |
Build a 3D visual feature from a rotation matrix that represent the rotation that the camera has to achieve.
R | [in] : Rotation that the camera has to achieve. Depending on the rotation representation type (vpFeatureThetaU::vpFeatureThetaURotationRepresentationType) used to construct this object, the parameter R represents either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ), or the rotation that the camera has to achieve to move from the current camera frame to the desired one ( ). |
Definition at line 229 of file vpFeatureThetaU.cpp.
References buildFrom().
vpFeatureThetaU & vpFeatureThetaU::buildFrom | ( | const vpThetaUVector & | tu | ) |
Build a 3D visual feature from a vector that represent the rotation the camera has to achieve.
tu | [in] : Rotation that the camera has to achieve in angle/axis representation. Depending on the rotation representation type (vpFeatureThetaU::vpFeatureThetaURotationRepresentationType) used to construct this object, the parameter tu represents either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ), or the rotation that the camera has to achieve to move from the current camera frame to the desired one ( ). |
Definition at line 203 of file vpFeatureThetaU.cpp.
References vpBasicFeature::flags, vpBasicFeature::nbParameters, and vpBasicFeature::s.
Referenced by buildFrom(), and vpFeatureThetaU().
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Return the dimension of the feature vector .
Definition at line 110 of file vpBasicFeature.h.
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Feature duplication.
Create an object with the same type.
Implements vpBasicFeature.
Definition at line 652 of file vpFeatureThetaU.cpp.
References cdRc, cRcd, and vpFeatureThetaU().
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Compute the error between the current and the desired visual features from a subset of the possible features.
Since this visual feature represent either the rotation from the desired camera frame to the current camera frame , or the rotation from the current camera frame to the desired camera frame , the desired visual feature should be zero. Thus, the error is here equal to the current visual feature .
s_star | : Desired visual visual feature that should be equal to zero. |
select | : The error can be computed for a selection of a subset of the possible features.
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vpFeatureException::badInitializationError | : If the desired visual feature is not equal to zero. |
The code below shows how to use this method to manipulate the subset:
To manipulate the subset features , the code becomes:
Reimplemented from vpBasicFeature.
Definition at line 570 of file vpFeatureThetaU.cpp.
References vpFeatureException::badInitializationError, vpBasicFeature::get_s(), vpBasicFeature::s, selectTUx(), selectTUy(), selectTUz(), vpColVector::stack(), and vpColVector::sumSquare().
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Get the feature vector .
Definition at line 115 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::s, and vpColVector::stack().
Referenced by vpServo::computeError(), vpBasicFeature::error(), vpFeatureDepth::error(), error(), vpFeatureTranslation::error(), and vpGenericFeature::error().
double vpFeatureThetaU::get_TUx | ( | ) | const |
Return the subset value of the visual feature .
Definition at line 332 of file vpFeatureThetaU.cpp.
References vpBasicFeature::s.
double vpFeatureThetaU::get_TUy | ( | ) | const |
Return the subset value of the visual feature .
Definition at line 339 of file vpFeatureThetaU.cpp.
References vpBasicFeature::s.
double vpFeatureThetaU::get_TUz | ( | ) | const |
Return the subset value of the visual feature .
Definition at line 346 of file vpFeatureThetaU.cpp.
References vpBasicFeature::s.
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inlineinherited |
Definition at line 123 of file vpBasicFeature.h.
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Get the feature vector dimension.
Definition at line 102 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), and vpBasicFeature::s.
vpFeatureThetaU::vpFeatureThetaURotationRepresentationType vpFeatureThetaU::getFeatureThetaURotationType | ( | ) | const |
Get the type of rotation feature.
Definition at line 321 of file vpFeatureThetaU.cpp.
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Initialise the memory space requested for 3D visual feature.
Implements vpBasicFeature.
Definition at line 65 of file vpFeatureThetaU.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.
Referenced by vpFeatureThetaU().
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Compute and return the interaction matrix from a subset ( ) of the possible features that represent the 3D rotation or , with
See the vpFeatureThetaU class description for the equations of .
select | : Selection of a subset of the possible features.
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The code below shows how to compute the interaction matrix associated to the visual feature .
The code below shows how to compute the interaction matrix associated to the subset visual feature:
L_xy is here now a 2 by 6 matrix. The first line corresponds to the visual feature while the second one to the visual feature.
It is also possible to build the interaction matrix from all the components by:
In that case, L_xyz is a 3 by 6 interaction matrix where the last line corresponds to the visual feature.
Implements vpBasicFeature.
Definition at line 410 of file vpFeatureThetaU.cpp.
References cdRc, vpBasicFeature::deallocate, vpMatrix::eye(), vpBasicFeature::flags, vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpBasicFeature::s, selectTUx(), selectTUy(), selectTUz(), vpMath::sinc(), vpColVector::skew(), vpMath::sqr(), vpMatrix::stack(), vpColVector::sumSquare(), and vpBasicFeature::user.
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inlinevirtualinherited |
Return element i in the state vector (usage : x = s[i] )
Definition at line 130 of file vpBasicFeature.h.
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Print to stdout the values of the current visual feature .
select | : Selection of a subset of the possible features.
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Implements vpBasicFeature.
Definition at line 626 of file vpFeatureThetaU.cpp.
References vpBasicFeature::s, selectTUx(), selectTUy(), and selectTUz().
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Definition at line 132 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), interaction(), and vpFeatureTranslation::interaction().
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Function used to select the subset of the visual feature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to .
See the interaction() method for an usage example.
This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:
Definition at line 722 of file vpFeatureThetaU.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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Function used to select the subset of the visual feature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to .
See the interaction() method for an usage example.
This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:
Definition at line 747 of file vpFeatureThetaU.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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Function used to select the subset of the visual feature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to .
See the interaction() method for an usage example.
This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:
Definition at line 772 of file vpFeatureThetaU.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
void vpFeatureThetaU::set_TUx | ( | double | tu_x | ) |
Initialise the subset value of the 3D visual feature .
tu_x | : subset value to initialize. |
Definition at line 281 of file vpFeatureThetaU.cpp.
References vpBasicFeature::flags, and vpBasicFeature::s.
void vpFeatureThetaU::set_TUy | ( | double | tu_y | ) |
Initialise the subset value of the 3D visual feature .
tu_y | : subset value to initialize. |
Definition at line 294 of file vpFeatureThetaU.cpp.
References vpBasicFeature::flags, and vpBasicFeature::s.
void vpFeatureThetaU::set_TUz | ( | double | tu_z | ) |
Initialise the subset value of the 3D visual feature .
tu_z | : subset value to initialize. |
Definition at line 307 of file vpFeatureThetaU.cpp.
References vpBasicFeature::flags, and vpBasicFeature::s.
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Definition at line 137 of file vpBasicFeature.h.
Referenced by vpServo::addFeature().
void vpFeatureThetaU::setFeatureThetaURotationType | ( | const vpFeatureThetaURotationRepresentationType | r | ) |
Set the type of rotation feature.
r | : type of feature. It can be vpFeatureThetaU::cdRc or vpFeatureThetaU::cRcd. |
Definition at line 271 of file vpFeatureThetaU.cpp.
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Set feature flags to true to prevent warning when re-computing the interaction matrix without having updated the feature.
Definition at line 142 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
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Definition at line 148 of file vpBasicFeature.h.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), interaction(), vpFeatureTranslation::interaction(), and vpBasicFeature::operator=().
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Dimension of the visual feature.
Definition at line 94 of file vpBasicFeature.h.
Referenced by vpFeatureMoment::duplicate(), vpGenericFeature::duplicate(), vpBasicFeature::error(), vpFeatureLuminanceMapping::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminanceMapping::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureLuminanceMapping::interaction(), vpFeatureMoment::interaction(), vpGenericFeature::interaction(), vpFeatureLuminance::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), vpFeatureLuminanceMapping::operator=(), vpFeatureMoment::print(), vpGenericFeature::print(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature::vpGenericFeature().
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Definition at line 81 of file vpBasicFeature.h.
Referenced by vpBasicFeature::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureMoment::interaction(), vpGenericFeature::interaction(), vpFeatureMoment::print(), vpGenericFeature::print(), vpFeatureEllipse::select_n02(), vpFeatureEllipse::select_n11(), vpFeatureEllipse::select_n20(), vpFeatureSegment::selectAlpha(), vpFeatureVanishingPoint::selectAlpha(), vpFeatureVanishingPoint::selectAtanOneOverRho(), vpFeatureSegment::selectL(), vpFeatureVanishingPoint::selectOneOverRho(), vpFeatureLine::selectRho(), vpFeaturePointPolar::selectRho(), vpFeatureLine::selectTheta(), vpFeaturePointPolar::selectTheta(), selectTUx(), selectTUy(), selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), vpFeatureEllipse::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureVanishingPoint::selectX(), vpFeatureSegment::selectXc(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureVanishingPoint::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().
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Ensure that all the parameters needed to compute the interaction matrix are set.
Definition at line 98 of file vpBasicFeature.h.
Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rho(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePointPolar::set_theta(), set_TUx(), set_TUy(), set_TUz(), vpFeatureDepth::set_x(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureDepth::set_y(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureVanishingPoint::set_y(), vpFeatureDepth::set_Z(), vpFeatureLuminance::set_Z(), vpFeaturePoint::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().
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Number of parameters needed to compute the interaction matrix.
Definition at line 100 of file vpBasicFeature.h.
Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint3D::buildFrom(), buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureMoment::update(), and vpFeatureLuminance::vpFeatureLuminance().
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State of the visual feature.
Definition at line 92 of file vpBasicFeature.h.
Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureLuminanceMapping::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::error(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureEllipse::error(), vpFeatureLine::error(), vpFeatureMomentAlpha::error(), vpFeaturePoint::error(), vpFeaturePoint3D::error(), vpFeaturePointPolar::error(), error(), vpFeatureTranslation::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpFeatureLuminanceMapping::error(), vpFeatureDepth::get_LogZoverZstar(), vpFeaturePointPolar::get_rho(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpFeaturePointPolar::get_theta(), get_TUx(), get_TUy(), get_TUz(), vpFeatureTranslation::get_Tx(), vpFeatureTranslation::get_Ty(), vpFeatureTranslation::get_Tz(), vpFeaturePoint::get_x(), vpFeaturePoint3D::get_X(), vpFeatureVanishingPoint::get_x(), vpFeaturePoint::get_y(), vpFeaturePoint3D::get_Y(), vpFeatureVanishingPoint::get_y(), vpFeaturePoint3D::get_Z(), vpFeatureVanishingPoint::getAlpha(), vpFeatureVanishingPoint::getAtanOneOverRho(), vpBasicFeature::getDimension(), vpFeatureVanishingPoint::getOneOverRho(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpGenericFeature::init(), vpFeatureLuminanceMapping::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), interaction(), vpFeatureTranslation::interaction(), vpFeatureLuminanceMapping::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), vpFeatureLuminanceMapping::operator=(), vpFeatureEllipse::print(), vpFeatureLine::print(), vpFeatureLuminanceMapping::print(), vpFeatureMoment::print(), vpFeatureSegment::print(), print(), vpFeatureTranslation::print(), vpGenericFeature::print(), vpFeatureDepth::set_LogZoverZstar(), vpFeaturePointPolar::set_rho(), vpGenericFeature::set_s(), vpFeaturePointPolar::set_theta(), set_TUx(), set_TUy(), set_TUz(), vpFeatureTranslation::set_Tx(), vpFeatureTranslation::set_Ty(), vpFeatureTranslation::set_Tz(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureVanishingPoint::set_y(), vpFeaturePoint3D::set_Z(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().