Visual Servoing Platform  version 3.6.0 under development (2023-09-29)
vpBasicFeature.h
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30  *
31  * Description:
32  * Visual feature.
33  *
34  * Authors:
35  * Nicolas Mansard
36  *
37 *****************************************************************************/
38 
39 #ifndef vpBasicFeature_H
40 #define vpBasicFeature_H
41 
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpMatrix.h>
49 
50 // Display Issue
51 
52 // Meter/pixel conversion
53 #include <visp3/core/vpCameraParameters.h>
54 
55 // Color / image / display
56 #include <visp3/core/vpColor.h>
57 #include <visp3/core/vpImage.h>
58 #include <visp3/core/vpRGBa.h>
59 
60 // #define FEATURE_ALL 0xff
61 
62 // #define FEATURE_LINE1 0x1
63 // #define FEATURE_LINE2 0x2
64 // #define FEATURE_LINE3 0x4
65 // #define FEATURE_LINE4 0x8
66 // #define FEATURE_LINE5 0x10
67 // #define FEATURE_LINE6 0x20
68 // #define FEATURE_LINE7 0x40
69 // #define FEATURE_LINE8 0x80
70 
76 class VISP_EXPORT vpBasicFeature
77 {
78 public: // Public constantes
79  static const unsigned int FEATURE_LINE[32];
80 
81  enum { FEATURE_ALL = 0xffff };
87  typedef enum { user, vpServo } vpBasicFeatureDeallocatorType;
88 
89 protected:
93  unsigned int dim_s;
94  // int featureLine[8] ;
97  bool *flags;
99  unsigned int nbParameters;
100 
101 public:
102  vpBasicFeature();
103  vpBasicFeature(const vpBasicFeature &f);
104  virtual ~vpBasicFeature();
105 
109  unsigned int dimension_s() { return dim_s; }
110 
111  virtual void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I,
112  const vpColor &color = vpColor::green, unsigned int thickness = 1) const = 0;
113  virtual void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
114  unsigned int thickness = 1) const = 0;
115 
116  virtual void init() = 0;
117 
118  virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
119 
120  // Get the feature vector.
121  vpColVector get_s(unsigned int select = FEATURE_ALL) const;
123 
124  // Get the feature vector dimension.
125  unsigned int getDimension(unsigned int select = FEATURE_ALL) const;
127  virtual vpMatrix interaction(unsigned int select = FEATURE_ALL) = 0;
129  virtual inline double operator[](unsigned int i) const { return s[i]; }
130  vpBasicFeature &operator=(const vpBasicFeature &f);
132  virtual void print(unsigned int select = FEATURE_ALL) const = 0;
133 
134  virtual vpBasicFeature *duplicate() const = 0;
135 
136  void setDeallocate(vpBasicFeatureDeallocatorType d) { deallocate = d; }
137  void setFlags();
139 
141  static unsigned int selectAll() { return FEATURE_ALL; }
142 
143 protected:
144  void resetFlags();
145 
146 protected:
148 };
149 
150 #endif
class that defines what is a visual feature
vpColVector s
State of the visual feature.
vpBasicFeatureDeallocatorType getDeallocate()
virtual void init()=0
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
virtual void display(const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
static unsigned int selectAll()
Select all the features.
void setDeallocate(vpBasicFeatureDeallocatorType d)
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
virtual double operator[](unsigned int i) const
Return element i in the state vector (usage : x = s[i] )
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
unsigned int dimension_s()
virtual vpBasicFeature * duplicate() const =0
unsigned int dim_s
Dimension of the visual feature.
vpBasicFeatureDeallocatorType deallocate
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:167
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
static const vpColor green
Definition: vpColor.h:214
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152