Visual Servoing Platform  version 3.6.1 under development (2024-04-18)
vpGenericFeature.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
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8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Generic feature (used to create new feature not implemented in ViSP).
32  */
33 
34 #ifndef vpGenericFeature_hh
35 #define vpGenericFeature_hh
36 
43 #include <visp3/core/vpMatrix.h>
44 #include <visp3/core/vpRGBa.h>
45 #include <visp3/visual_features/vpBasicFeature.h>
46 
47 #include <math.h>
48 
175 class VISP_EXPORT vpGenericFeature : public vpBasicFeature
176 {
177 private:
179 
180 public:
181  explicit vpGenericFeature(unsigned int dim);
182 
183  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
184  unsigned int thickness = 1) const vp_override;
185  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
186  unsigned int thickness = 1) const vp_override;
187  vpGenericFeature *duplicate() const vp_override;
188  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
189 
190  vpColVector error(unsigned int select = FEATURE_ALL);
191 
192  vpMatrix getInteractionMatrix() const { return L; }
193  void get_s(vpColVector &s) const;
194  void get_s(double &s0) const;
195  void get_s(double &s0, double &s1) const;
196  void get_s(double &s0, double &s1, double &s2) const;
197 
198  void init() vp_override;
199  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
200  void print(unsigned int select = FEATURE_ALL) const vp_override;
201  void setInteractionMatrix(const vpMatrix &L);
202  void setError(const vpColVector &error_vector);
203  void set_s(const vpColVector &s);
204  void set_s(const double s0);
205  void set_s(const double s0, const double s1);
206  void set_s(const double s0, const double s1, const double s2);
207 
208 private:
209  typedef enum { errorNotInitalized, errorInitialized, errorHasToBeUpdated } vpGenericFeatureErrorType;
210 
211  vpMatrix L;
212  vpColVector err;
213  vpGenericFeatureErrorType errorStatus;
214 };
215 
216 #endif
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
virtual void init()=0
vpColVector get_s(unsigned int select=FEATURE_ALL) const
Get the feature vector .
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.
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 enables to define a feature or a set of features which are not implemented in ViSP as a sp...
vpMatrix getInteractionMatrix() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146