Visual Servoing Platform  version 3.3.1 under development (2020-02-21)
vpCircle.h
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30  *
31  * Description:
32  * Visual feature circle.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
44 #ifndef vpCircle_hh
45 #define vpCircle_hh
46 
47 #include <math.h>
48 #include <visp3/core/vpDebug.h>
49 #include <visp3/core/vpForwardProjection.h>
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpMath.h>
52 
58 class VISP_EXPORT vpCircle : public vpForwardProjection
59 {
60 public:
61  void init();
62  vpCircle();
63  explicit vpCircle(const vpColVector &oP);
64  vpCircle(double A, double B, double C, double X0, double Y0, double Z0, double R);
65  virtual ~vpCircle();
66 
67  void setWorldCoordinates(const vpColVector &oP);
68  void setWorldCoordinates(double A, double B, double C, double X0, double Y0, double Z0, double R);
69 
70  double getA() const { return cP[0]; }
71  double getB() const { return cP[1]; }
72  double getC() const { return cP[2]; }
73 
74  double getX() const { return cP[3]; }
75  double getY() const { return cP[4]; }
76  double getZ() const { return cP[5]; }
77 
78  double getR() const { return cP[6]; }
79 
80  void projection();
81  void projection(const vpColVector &cP, vpColVector &p);
82  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP);
83  void changeFrame(const vpHomogeneousMatrix &cMo);
84 
85  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
86  unsigned int thickness = 1);
87  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
88  const vpColor &color = vpColor::green, unsigned int thickness = 1);
89  vpCircle *duplicate() const;
90 
91  //###################
92  // Static Functions
93  //###################
94 
95 public:
96  static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho,
97  const double &theta, double &i, double &j);
98 };
99 
100 #endif
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
double getB() const
Definition: vpCircle.h:71
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define colors available for display functionnalities.
Definition: vpColor.h:119
double getZ() const
Definition: vpCircle.h:76
virtual void init()=0
double getX() const
Definition: vpCircle.h:74
static const vpColor green
Definition: vpColor.h:182
virtual void projection()=0
double getA() const
Definition: vpCircle.h:70
Class that defines what is a generic geometric feature.
virtual void setWorldCoordinates(const vpColVector &oP)=0
Generic class defining intrinsic camera parameters.
double getR() const
Definition: vpCircle.h:78
double getY() const
Definition: vpCircle.h:75
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Class that defines what is a circle.
Definition: vpCircle.h:58
virtual vpForwardProjection * duplicate() const =0
double getC() const
Definition: vpCircle.h:72