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Visual Servoing Platform
version 3.3.0
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40 #include <visp3/core/vpMath.h>
41 #include <visp3/visual_features/vpBasicFeature.h>
42 #include <visp3/visual_features/vpFeatureThetaU.h>
45 #include <visp3/core/vpException.h>
46 #include <visp3/visual_features/vpFeatureException.h>
49 #include <visp3/core/vpDebug.h>
416 if (
flags[i] ==
false) {
419 vpTRACE(
"Warning !!! The interaction matrix is computed but Tu_x "
423 vpTRACE(
"Warning !!! The interaction matrix is computed but Tu_y "
427 vpTRACE(
"Warning !!! The interaction matrix is computed but Tu_z "
431 vpTRACE(
"Problem during the reading of the variable flags");
440 for (
unsigned int i = 0; i < 3; i++) {
452 for (
unsigned int i = 0; i < 3; i++)
460 if (rotation ==
cdRc) {
473 for (
int i = 0; i < 3; i++)
474 Lx[0][i + 3] = Lw[0][i];
485 for (
int i = 0; i < 3; i++)
486 Ly[0][i + 3] = Lw[1][i];
497 for (
int i = 0; i < 3; i++)
498 Lz[0][i + 3] = Lw[2][i];
625 std::cout <<
"ThetaU:";
627 std::cout <<
" tux=" <<
s[0];
630 std::cout <<
" tuy=" <<
s[1];
633 std::cout <<
" tuz=" <<
s[2];
635 std::cout << std::endl;
652 if (rotation ==
cdRc)
666 const vpColor & ,
unsigned int )
const
668 static int firsttime = 0;
670 if (firsttime == 0) {
683 const vpColor & ,
unsigned int )
const
685 static int firsttime = 0;
687 if (firsttime == 0) {
static unsigned int selectTUz()
vpFeatureThetaURotationRepresentationType getFeatureThetaURotationType() const
static unsigned int selectTUx()
static double sqr(double x)
Generic class defining intrinsic camera parameters.
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
void print(unsigned int select=FEATURE_ALL) const
unsigned int dim_s
Dimension of the visual feature.
vpColVector get_s(unsigned int select=FEATURE_ALL) const
Get the feature vector .
Implementation of a rotation vector as axis-angle minimal representation.
void set_TUx(double tu_x)
Implementation of column vector and the associated operations.
void extract(vpRotationMatrix &R) const
Implementation of a matrix and operations on matrices.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
vpMatrix interaction(unsigned int select=FEATURE_ALL)
void set_TUz(double tu_z)
Implementation of a rotation matrix and operations on such kind of matrices.
Error that can be emited by the vpBasicFeature class and its derivates.
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
void set_TUy(double tu_y)
static unsigned int selectTUy()
vpColVector s
State of the visual feature.
void buildFrom(vpThetaUVector &tu)
void resize(unsigned int i, bool flagNullify=true)
static double sinc(double x)
vpBasicFeatureDeallocatorType deallocate
static const unsigned int FEATURE_LINE[32]
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
Class to define colors available for display functionnalities.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpFeatureThetaURotationRepresentationType
vpFeatureThetaU * duplicate() const
Feature duplication.
void stack(const vpMatrix &A)
class that defines what is a visual feature
void setFeatureThetaURotationType(const vpFeatureThetaURotationRepresentationType r)
static vpMatrix skew(const vpColVector &v)