Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
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>
83 class VISP_EXPORT vpSphere : public vpForwardProjection
84 {
85 public:
86  vpSphere();
87  explicit vpSphere(const vpColVector &oP);
88  vpSphere(double oX, double oY, double oZ, double R);
89  virtual ~vpSphere();
90 
91  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
92  void changeFrame(const vpHomogeneousMatrix &cMo);
93 
94  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
95  unsigned int thickness = 1);
96  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
97  const vpColor &color = vpColor::green, unsigned int thickness = 1);
98 
99  vpSphere *duplicate() const;
100 
101  double get_x() const { return p[0]; }
102  double get_y() const { return p[1]; }
103 
104  double get_n20() const { return p[2]; }
105  double get_n11() const { return p[3]; }
106  double get_n02() const { return p[4]; }
107 
108  double getX() const { return cP[0]; }
109  double getY() const { return cP[1]; }
110  double getZ() const { return cP[2]; }
111  double getR() const { return cP[3]; }
112 
113  void projection();
114  void projection(const vpColVector &cP, vpColVector &p) const;
115 
116  void setWorldCoordinates(const vpColVector &oP);
117  void setWorldCoordinates(double oX, double oY, double oZ, double R);
118 
119 protected:
120  void init();
121 
122 public:
123 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
124 
134  vp_deprecated double get_mu20() const { return p[2]; }
141  vp_deprecated double get_mu11() const { return p[3]; }
148  vp_deprecated double get_mu02() const { return p[4]; }
150 #endif
151 };
152 
153 #endif
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const =0
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
double getR() const
Definition: vpSphere.h:111
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
virtual void init()=0
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:83
double getZ() const
Definition: vpSphere.h:110
static const vpColor green
Definition: vpColor.h:220
virtual void projection()=0
double get_x() const
Definition: vpSphere.h:101
Class that defines what is a generic geometric feature.
virtual void setWorldCoordinates(const vpColVector &oP)=0
Generic class defining intrinsic camera parameters.
vp_deprecated double get_mu20() const
Definition: vpSphere.h:134
double getX() const
Definition: vpSphere.h:108
double getY() const
Definition: vpSphere.h:109
vp_deprecated double get_mu11() const
Definition: vpSphere.h:141
double get_y() const
Definition: vpSphere.h:102
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
double get_n02() const
Definition: vpSphere.h:106
double get_n20() const
Definition: vpSphere.h:104
vp_deprecated double get_mu02() const
Definition: vpSphere.h:148
double get_n11() const
Definition: vpSphere.h:105
virtual vpForwardProjection * duplicate() const =0