36 #ifndef vpFeatureThetaU_H
37 #define vpFeatureThetaU_H
44 #include <visp3/core/vpMatrix.h>
45 #include <visp3/core/vpThetaUVector.h>
46 #include <visp3/visual_features/vpBasicFeature.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpRGBa.h>
229 } vpFeatureThetaUType;
240 } vpFeatureThetaURotationRepresentationType;
261 unsigned int thickness = 1)
const override;
263 unsigned int thickness = 1)
const override;
272 vpFeatureThetaURotationRepresentationType getFeatureThetaURotationType()
const;
274 double get_TUx()
const;
275 double get_TUy()
const;
276 double get_TUz()
const;
279 void init()
override;
283 void print(
unsigned int select = FEATURE_ALL)
const override;
285 void set_TUx(
double tu_x);
286 void set_TUy(
double tu_y);
287 void set_TUz(
double tu_z);
289 void setFeatureThetaURotationType(
const vpFeatureThetaURotationRepresentationType r);
295 static unsigned int selectTUx();
296 static unsigned int selectTUy();
297 static unsigned int selectTUz();
300 vpFeatureThetaURotationRepresentationType rotation;
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpBasicFeature * duplicate() const =0
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
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.