39 #ifndef vpBasicFeature_H
40 #define vpBasicFeature_H
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpMatrix.h>
53 #include <visp3/core/vpCameraParameters.h>
56 #include <visp3/core/vpColor.h>
57 #include <visp3/core/vpImage.h>
58 #include <visp3/core/vpRGBa.h>
79 static const unsigned int FEATURE_LINE[32];
81 enum { FEATURE_ALL = 0xffff };
87 typedef enum { user,
vpServo } vpBasicFeatureDeallocatorType;
114 unsigned int thickness = 1)
const = 0;
121 vpColVector get_s(
unsigned int select = FEATURE_ALL)
const;
125 unsigned int getDimension(
unsigned int select = FEATURE_ALL)
const;
129 virtual inline double operator[](
unsigned int i)
const {
return s[i]; }
132 virtual void print(
unsigned int select = FEATURE_ALL)
const = 0;
class that defines what is a visual feature
vpBasicFeatureDeallocatorType
vpColVector s
State of the visual feature.
vpBasicFeatureDeallocatorType getDeallocate()
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.
Class to define RGB colors available for display functionalities.
static const vpColor green
Implementation of a matrix and operations on matrices.