Visual Servoing Platform  version 3.2.1 under development (2019-07-16)
vpGenericFeature.h
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30  *
31  * Description:
32  * Generic feature (used to create new feature not implemented in ViSP).
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpGenericFeature_hh
40 #define vpGenericFeature_hh
41 
48 #include <visp3/core/vpMatrix.h>
49 #include <visp3/core/vpRGBa.h>
50 #include <visp3/visual_features/vpBasicFeature.h>
51 
52 #include <math.h>
53 
182 class VISP_EXPORT vpGenericFeature : public vpBasicFeature
183 {
184 private:
186 
187 public:
188  explicit vpGenericFeature(unsigned int dim);
189  virtual ~vpGenericFeature();
190 
191  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
192  unsigned int thickness = 1) const;
193  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
194  unsigned int thickness = 1) const;
195 
196  vpGenericFeature *duplicate() const;
197 
198  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
199 
200  vpColVector error(const unsigned int select = FEATURE_ALL);
201 
202  vpMatrix getInteractionMatrix() const { return L; }
203  void get_s(vpColVector &s) const;
204  void get_s(double &s0) const;
205  void get_s(double &s0, double &s1) const;
206  void get_s(double &s0, double &s1, double &s2) const;
207 
208  void init();
209 
210  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
211 
212  void print(const unsigned int select = FEATURE_ALL) const;
213  void setInteractionMatrix(const vpMatrix &L);
214  void setError(const vpColVector &error_vector);
215  void set_s(const vpColVector &s);
216  void set_s(const double s0);
217  void set_s(const double s0, const double s1);
218  void set_s(const double s0, const double s1, const double s2);
219 
220 private:
221  typedef enum { errorNotInitalized, errorInitialized, errorHasToBeUpdated } vpGenericFeatureErrorType;
222 
223  vpMatrix L;
224  vpColVector err;
225  vpGenericFeatureErrorType errorStatus;
226 };
227 
228 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
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
vpMatrix getInteractionMatrix() const
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
Class that enables to define a feature or a set of features which are not implemented in ViSP as a sp...
virtual vpBasicFeature * duplicate() const =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