34 #ifndef vpGenericFeature_hh
35 #define vpGenericFeature_hh
43 #include <visp3/core/vpMatrix.h>
44 #include <visp3/core/vpRGBa.h>
45 #include <visp3/visual_features/vpBasicFeature.h>
184 unsigned int thickness = 1)
const override;
186 unsigned int thickness = 1)
const override;
196 void get_s(
double &s0)
const;
197 void get_s(
double &s0,
double &s1)
const;
198 void get_s(
double &s0,
double &s1,
double &s2)
const;
200 void init()
override;
204 void print(
unsigned int select = FEATURE_ALL)
const override;
205 void setInteractionMatrix(
const vpMatrix &L);
208 void set_s(
const double s0);
209 void set_s(
const double s0,
const double s1);
210 void set_s(
const double s0,
const double s1,
const double s2);
213 typedef enum { errorNotInitalized, errorInitialized, errorHasToBeUpdated } vpGenericFeatureErrorType;
217 vpGenericFeatureErrorType errorStatus;
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.
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.
Class to define RGB colors available for display functionalities.
static const vpColor green
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.