Visual Servoing Platform  version 3.2.1 under development (2019-08-19)
vpSphere.h
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30  *
31  * Description:
32  * Sphere feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
44 #ifndef vpSphere_hh
45 #define vpSphere_hh
46 
47 #include <visp3/core/vpDebug.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMath.h>
50 
51 #include <math.h>
52 #include <visp3/core/vpForwardProjection.h>
60 class VISP_EXPORT vpSphere : public vpForwardProjection
61 {
62 public:
63  void init();
64  vpSphere();
65  virtual ~vpSphere();
66 
67 public:
68  explicit vpSphere(const vpColVector &oP);
69  vpSphere(const double X0, const double Y0, const double Z0, const double R);
70 
71  void setWorldCoordinates(const vpColVector &oP);
72  void setWorldCoordinates(const double X0, const double Y0, const double Z0, const double R);
73 
74  double get_x() const { return p[0]; }
75  double get_y() const { return p[1]; }
76  double get_mu20() const { return p[2]; }
77  double get_mu11() const { return p[3]; }
78  double get_mu02() const { return p[4]; }
79 
80  double getX() const { return cP[0]; }
81  double getY() const { return cP[1]; }
82  double getZ() const { return cP[2]; }
83 
84  double getR() const { return cP[3]; }
85 
86  void projection();
87  void projection(const vpColVector &cP, vpColVector &p);
88  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP);
89  void changeFrame(const vpHomogeneousMatrix &cMo);
90 
91  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
92  const unsigned int thickness = 1);
93  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
94  const vpColor &color = vpColor::green, const unsigned int thickness = 1);
95 
96  vpSphere *duplicate() const;
97 };
98 
99 #endif
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0
double getR() const
Definition: vpSphere.h:84
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, const unsigned int thickness=1)=0
virtual void init()=0
Class that defines what is a sphere.
Definition: vpSphere.h:60
double get_mu11() const
Definition: vpSphere.h:77
double getZ() const
Definition: vpSphere.h:82
static const vpColor green
Definition: vpColor.h:183
virtual void projection()=0
double get_x() const
Definition: vpSphere.h:74
Class that defines what is a generic geometric feature.
virtual void setWorldCoordinates(const vpColVector &oP)=0
Generic class defining intrinsic camera parameters.
double getX() const
Definition: vpSphere.h:80
double getY() const
Definition: vpSphere.h:81
double get_mu20() const
Definition: vpSphere.h:76
double get_y() const
Definition: vpSphere.h:75
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
double get_mu02() const
Definition: vpSphere.h:78
virtual vpForwardProjection * duplicate() const =0