Visual Servoing Platform
version 3.3.0
vpForwardProjection.cpp
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Forward projection.
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*
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* Authors:
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* Eric Marchand
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*
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*****************************************************************************/
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#include <visp3/core/vpDebug.h>
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#include <visp3/core/vpForwardProjection.h>
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void
vpForwardProjection::print
()
const
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{
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std::cout <<
"oP : "
<<
oP
.
t
();
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std::cout <<
"cP : "
<<
cP
.
t
();
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std::cout <<
"p : "
<<
p
.
t
();
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}
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void
vpForwardProjection::project
() {
projection
(
cP
,
p
); }
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void
vpForwardProjection::project
(
const
vpHomogeneousMatrix
&cMo)
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{
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try
{
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changeFrame
(cMo);
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projection
();
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}
catch
(...) {
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vpERROR_TRACE
(
"Error caught"
);
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throw
;
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}
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}
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void
vpForwardProjection::track
(
const
vpHomogeneousMatrix
&cMo)
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{
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try
{
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project
(cMo);
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}
catch
(...) {
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vpERROR_TRACE
(
"Error caught"
);
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throw
;
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}
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}
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/*
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* Local variables:
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* c-basic-offset: 2
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* End:
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*/
vpTracker::cP
vpColVector cP
Definition:
vpTracker.h:74
vpColVector::t
vpRowVector t() const
Definition:
vpColVector.cpp:781
vpForwardProjection::project
void project()
Definition:
vpForwardProjection.cpp:67
vpForwardProjection::oP
vpColVector oP
Definition:
vpForwardProjection.h:73
vpForwardProjection::print
virtual void print() const
Definition:
vpForwardProjection.cpp:52
vpForwardProjection::projection
virtual void projection()=0
vpForwardProjection::changeFrame
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0
vpTracker::p
vpColVector p
Definition:
vpTracker.h:70
vpERROR_TRACE
#define vpERROR_TRACE
Definition:
vpDebug.h:392
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition:
vpHomogeneousMatrix.h:148
vpForwardProjection::track
void track(const vpHomogeneousMatrix &cMo)
Definition:
vpForwardProjection.cpp:110
modules
core
src
tracking
forward-projection
vpForwardProjection.cpp
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