Visual Servoing Platform  version 3.2.1 under development (2019-11-21)
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(const double A, const double B, const double C, const double X0, const double Y0, const double Z0,
65  const double R);
66  virtual ~vpCircle();
67 
68  void setWorldCoordinates(const vpColVector &oP);
69  void setWorldCoordinates(const double A, const double B, const double C, const double X0, const double Y0,
70  const double Z0, const double R);
71 
72  double getA() const { return cP[0]; }
73  double getB() const { return cP[1]; }
74  double getC() const { return cP[2]; }
75 
76  double getX() const { return cP[3]; }
77  double getY() const { return cP[4]; }
78  double getZ() const { return cP[5]; }
79 
80  double getR() const { return cP[6]; }
81 
82  void projection();
83  void projection(const vpColVector &cP, vpColVector &p);
84  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP);
85  void changeFrame(const vpHomogeneousMatrix &cMo);
86 
87  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
88  const unsigned int thickness = 1);
89  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
90  const vpColor &color = vpColor::green, const unsigned int thickness = 1);
91  vpCircle *duplicate() const;
92 
93  //###################
94  // Static Functions
95  //###################
96 
97 public:
98  static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho,
99  const double &theta, double &i, double &j);
100 };
101 
102 #endif
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0
double getB() const
Definition: vpCircle.h:73
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, const unsigned int thickness=1)=0
double getZ() const
Definition: vpCircle.h:78
virtual void init()=0
double getX() const
Definition: vpCircle.h:76
static const vpColor green
Definition: vpColor.h:183
virtual void projection()=0
double getA() const
Definition: vpCircle.h:72
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:80
double getY() const
Definition: vpCircle.h:77
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:74