Visual Servoing Platform  version 3.2.1 under development (2019-07-16)
vpFeatureTranslation.h
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30  *
31  * Description:
32  * 3D translation visual feature.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpFeatureTranslation_H
41 #define vpFeatureTranslation_H
42 
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/core/vpRGBa.h>
51 #include <visp3/core/vpTranslationVector.h>
52 #include <visp3/visual_features/vpBasicFeature.h>
53 
276 class VISP_EXPORT vpFeatureTranslation : public vpBasicFeature
277 {
278 public:
283  typedef enum {
295  cMo
297 
298  // basic contructor
300  // basic constructor specifying the type of translation feature
301  explicit vpFeatureTranslation(vpFeatureTranslationRepresentationType r);
302  // constructor : build from an homogeneous matrix
303  // cdMc is the displacement that the camera has to realize
304  vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1, vpFeatureTranslationRepresentationType r);
307 
308  // build from an homogeneous matrix
309  // cdMc is the displacement that the camera has to realize
310  void buildFrom(const vpHomogeneousMatrix &f2Mf1);
311 
312  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
313  unsigned int thickness = 1) const;
314  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
315  unsigned int thickness = 1) const;
316 
319 
320  // compute the error between two visual features from a subset
321  // a the possible features
322  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
323 
324  vpFeatureTranslationRepresentationType getFeatureTranslationType() const;
325 
326  double get_Tx() const;
327  double get_Ty() const;
328  double get_Tz() const;
329 
330  // basic construction
331  void init();
332  // compute the interaction matrix from a subset a the possible features
333  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
334 
335  // print the name of the feature
336  void print(const unsigned int select = FEATURE_ALL) const;
337 
338  void set_Tx(const double t_x);
339  void set_Ty(const double t_y);
340  void set_Tz(const double t_z);
341 
342  void setFeatureTranslationType(const vpFeatureTranslationRepresentationType r);
343 
344  // feature selection
345  static unsigned int selectTx();
346  static unsigned int selectTy();
347  static unsigned int selectTz();
348 
349 private:
351  vpHomogeneousMatrix f2Mf1;
352  vpFeatureTranslationRepresentationType translation;
353 };
354 
355 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
Class that defines the translation visual feature .
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void print(const unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
virtual vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
static const vpColor green
Definition: vpColor.h:183
class that defines what is a visual feature
virtual vpMatrix interaction(const unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
Generic class defining intrinsic camera parameters.
virtual void init()=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual vpBasicFeature * duplicate() const =0
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual ~vpFeatureTranslation()
Destructor. Does nothing.