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Visual Servoing Platform
version 3.2.0
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48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMath.h>
51 #include <visp3/core/vpForwardProjection.h>
102 } vpLineCylinderType;
106 vpCylinder(
const double A,
const double B,
const double C,
const double X0,
const double Y0,
const double Z0,
113 double computeZ(
const double x,
const double y)
const;
116 const unsigned int thickness = 1);
127 double getRho1()
const {
return p[0]; }
133 double getTheta1()
const {
return p[1]; }
140 double getRho2()
const {
return p[2]; }
146 double getTheta2()
const {
return p[3]; }
151 double getA()
const {
return cP[0]; }
155 double getB()
const {
return cP[1]; }
159 double getC()
const {
return cP[2]; }
163 double getX()
const {
return cP[3]; }
167 double getY()
const {
return cP[4]; }
171 double getZ()
const {
return cP[5]; }
175 double getR()
const {
return cP[6]; }
183 void setWorldCoordinates(
const double A,
const double B,
const double C,
const double X0,
const double Y0,
184 const double Z0,
const double R);
Class that defines what is a generic geometric feature.
Generic class defining intrinsic camera parameters.
virtual vpForwardProjection * duplicate() const =0
virtual void setWorldCoordinates(const vpColVector &oP)=0
Implementation of column vector and the associated operations.
virtual void projection()=0
Class that defines what is a cylinder.
static const vpColor green
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0
Class to define colors available for display functionnalities.
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, const unsigned int thickness=1)=0