Visual Servoing Platform version 3.6.0
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vpFeatureThetaU.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * ThetaU visual feature.
33 *
34*****************************************************************************/
35
36#ifndef vpFeatureThetaU_H
37#define vpFeatureThetaU_H
38
44#include <visp3/core/vpMatrix.h>
45#include <visp3/core/vpThetaUVector.h>
46#include <visp3/visual_features/vpBasicFeature.h>
47
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpRGBa.h>
50
220class VISP_EXPORT vpFeatureThetaU : public vpBasicFeature
221{
222public:
223 typedef enum {
224 TUx = 1,
226 TUy = 2,
228 TUz = 4
230 } vpFeatureThetaUType;
231 typedef enum {
232 cdRc,
236 cRcd
240 } vpFeatureThetaURotationRepresentationType;
241 /*
242 attributes and members directly related to the vpBasicFeature needs
243 other functionalities are useful but not mandatory
244 */
245
246public:
247 // Basic constructor.
249 explicit vpFeatureThetaU(vpFeatureThetaURotationRepresentationType r);
250 vpFeatureThetaU(vpThetaUVector &tu, vpFeatureThetaURotationRepresentationType r);
251 vpFeatureThetaU(vpRotationMatrix &R, vpFeatureThetaURotationRepresentationType r);
252 vpFeatureThetaU(vpHomogeneousMatrix &M, vpFeatureThetaURotationRepresentationType r);
254 virtual ~vpFeatureThetaU() {}
255
256 void buildFrom(vpThetaUVector &tu);
257 // build from a rotation matrix
258 void buildFrom(const vpRotationMatrix &R);
259 // build from an homogeneous matrix
260 void buildFrom(const vpHomogeneousMatrix &M);
261
262 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
263 unsigned int thickness = 1) const;
264 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
265 unsigned int thickness = 1) const;
266
268 vpFeatureThetaU *duplicate() const;
269
270 // compute the error between two visual features from a subset
271 // a the possible features
272 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
273
274 vpFeatureThetaURotationRepresentationType getFeatureThetaURotationType() const;
275
276 double get_TUx() const;
277 double get_TUy() const;
278 double get_TUz() const;
279
280 // Basic construction.
281 void init();
282 // compute the interaction matrix from a subset a the possible features
283 vpMatrix interaction(unsigned int select = FEATURE_ALL);
284
285 void print(unsigned int select = FEATURE_ALL) const;
286
287 void set_TUx(double tu_x);
288 void set_TUy(double tu_y);
289 void set_TUz(double tu_z);
290
291 void setFeatureThetaURotationType(const vpFeatureThetaURotationRepresentationType r);
292
293public:
294 /*
295 vpBasicFeature method instantiation
296 */
297 static unsigned int selectTUx();
298 static unsigned int selectTUy();
299 static unsigned int selectTUz();
300
301private:
302 vpFeatureThetaURotationRepresentationType rotation;
303};
304
305#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
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.
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.
Definition vpColor.h:152
static const vpColor green
Definition vpColor.h:214
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotati...
virtual ~vpFeatureThetaU()
Destructor. Does nothing.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.