Visual Servoing Platform  version 3.6.1 under development (2024-05-21)
vpFeatureThetaU.h
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30  *
31  * Description:
32  * ThetaU visual feature.
33  *
34 *****************************************************************************/
35 
36 #ifndef vpFeatureThetaU_H
37 #define vpFeatureThetaU_H
38 
44 #include <visp3/core/vpMatrix.h>
45 #include <visp3/core/vpThetaUVector.h>
46 #include <visp3/visual_features/vpBasicFeature.h>
47 
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpRGBa.h>
50 
218 class VISP_EXPORT vpFeatureThetaU : public vpBasicFeature
219 {
220 public:
221  typedef enum
222  {
223  TUx = 1,
225  TUy = 2,
227  TUz = 4
229  } vpFeatureThetaUType;
230  typedef enum
231  {
232  cdRc,
236  cRcd
240  } vpFeatureThetaURotationRepresentationType;
241  /*
242  attributes and members directly related to the vpBasicFeature needs
243  other functionalities are useful but not mandatory
244  */
245 
246 public:
247  // Basic constructor.
248  vpFeatureThetaU();
249  explicit vpFeatureThetaU(vpFeatureThetaURotationRepresentationType r);
250  vpFeatureThetaU(vpThetaUVector &tu, vpFeatureThetaURotationRepresentationType r);
251  vpFeatureThetaU(vpRotationMatrix &R, vpFeatureThetaURotationRepresentationType r);
252  vpFeatureThetaU(vpHomogeneousMatrix &M, vpFeatureThetaURotationRepresentationType r);
253 
254  void buildFrom(vpThetaUVector &tu);
255  // build from a rotation matrix
256  void buildFrom(const vpRotationMatrix &R);
257  // build from an homogeneous matrix
258  void buildFrom(const vpHomogeneousMatrix &M);
259 
260  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
261  unsigned int thickness = 1) const vp_override;
262  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
263  unsigned int thickness = 1) const vp_override;
264 
266  vpFeatureThetaU *duplicate() const vp_override;
267 
268  // compute the error between two visual features from a subset
269  // a the possible features
270  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
271 
272  vpFeatureThetaURotationRepresentationType getFeatureThetaURotationType() const;
273 
274  double get_TUx() const;
275  double get_TUy() const;
276  double get_TUz() const;
277 
278  // Basic construction.
279  void init() vp_override;
280  // compute the interaction matrix from a subset a the possible features
281  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
282  void print(unsigned int select = FEATURE_ALL) const vp_override;
283 
284  void set_TUx(double tu_x);
285  void set_TUy(double tu_y);
286  void set_TUz(double tu_z);
287 
288  void setFeatureThetaURotationType(const vpFeatureThetaURotationRepresentationType r);
289 
290 public:
291  /*
292  vpBasicFeature method instantiation
293  */
294  static unsigned int selectTUx();
295  static unsigned int selectTUy();
296  static unsigned int selectTUz();
297 
298 private:
299  vpFeatureThetaURotationRepresentationType rotation;
300 };
301 
302 #endif
class that defines what is a visual feature
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
static const vpColor green
Definition: vpColor.h:214
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.
Definition: vpMatrix.h:146
Definition: vpRGBa.h:61
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.