Visual Servoing Platform  version 3.2.1 under development (2019-05-26)
vpCylinder.h
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30  *
31  * Description:
32  * Cylinder feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
44 #ifndef vpCylinder_hh
45 #define vpCylinder_hh
46 
47 #include <math.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMath.h>
50 
51 #include <visp3/core/vpForwardProjection.h>
52 
96 class VISP_EXPORT vpCylinder : public vpForwardProjection
97 {
98 public:
99  typedef enum {
101  line2
103 
104  vpCylinder();
105  explicit vpCylinder(const vpColVector &oP);
106  vpCylinder(const double A, const double B, const double C, const double X0, const double Y0, const double Z0,
107  const double R);
108  virtual ~vpCylinder();
109 
110  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP);
111  void changeFrame(const vpHomogeneousMatrix &cMo);
112 
113  double computeZ(const double x, const double y) const;
114 
115  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
116  const unsigned int thickness = 1);
117  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
118  const vpColor &color = vpColor::green, const unsigned int thickness = 1);
119 
120  vpCylinder *duplicate() const;
121 
127  double getRho1() const { return p[0]; }
133  double getTheta1() const { return p[1]; }
134 
140  double getRho2() const { return p[2]; }
146  double getTheta2() const { return p[3]; }
147 
151  double getA() const { return cP[0]; }
155  double getB() const { return cP[1]; }
159  double getC() const { return cP[2]; }
163  double getX() const { return cP[3]; }
167  double getY() const { return cP[4]; }
171  double getZ() const { return cP[5]; }
175  double getR() const { return cP[6]; }
176 
177  void init();
178 
179  void projection();
180  void projection(const vpColVector &cP, vpColVector &p);
181 
182  void setWorldCoordinates(const vpColVector &oP);
183  void setWorldCoordinates(const double A, const double B, const double C, const double X0, const double Y0,
184  const double Z0, const double R);
185 };
186 
187 #endif
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0
double getY() const
Definition: vpCylinder.h:167
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
double getZ() const
Definition: vpCylinder.h:171
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, const unsigned int thickness=1)=0
double getRho2() const
Definition: vpCylinder.h:140
virtual void init()=0
static const vpColor green
Definition: vpColor.h:183
virtual void projection()=0
double getTheta1() const
Definition: vpCylinder.h:133
Class that defines what is a generic geometric feature.
double getC() const
Definition: vpCylinder.h:159
double getB() const
Definition: vpCylinder.h:155
virtual void setWorldCoordinates(const vpColVector &oP)=0
Generic class defining intrinsic camera parameters.
Class that defines what is a cylinder.
Definition: vpCylinder.h:96
double getA() const
Definition: vpCylinder.h:151
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
double getRho1() const
Definition: vpCylinder.h:127
double getTheta2() const
Definition: vpCylinder.h:146
vpLineCylinderType
Definition: vpCylinder.h:99
virtual vpForwardProjection * duplicate() const =0
double getX() const
Definition: vpCylinder.h:163
double getR() const
Definition: vpCylinder.h:175