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Visual Servoing Platform
version 3.3.0
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40 #ifndef vpBasicFeature_H
41 #define vpBasicFeature_H
48 #include <visp3/core/vpColVector.h>
49 #include <visp3/core/vpMatrix.h>
54 #include <visp3/core/vpCameraParameters.h>
57 #include <visp3/core/vpColor.h>
58 #include <visp3/core/vpImage.h>
59 #include <visp3/core/vpRGBa.h>
80 static const unsigned int FEATURE_LINE[32];
82 enum { FEATURE_ALL = 0xffff };
115 unsigned int thickness = 1)
const = 0;
122 vpColVector get_s(
unsigned int select = FEATURE_ALL)
const;
126 unsigned int getDimension(
unsigned int select = FEATURE_ALL)
const;
130 virtual inline double operator[](
unsigned int i)
const {
return s[i]; }
133 virtual void print(
unsigned int select = FEATURE_ALL)
const = 0;
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
static unsigned int selectAll()
Select all the features.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
Generic class defining intrinsic camera parameters.
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
unsigned int dim_s
Dimension of the visual feature.
unsigned int dimension_s()
Implementation of column vector and the associated operations.
vpBasicFeatureDeallocatorType
Implementation of a matrix and operations on matrices.
vpBasicFeatureDeallocatorType getDeallocate()
virtual double operator[](unsigned int i) const
Return element i in the state vector (usage : x = s[i] )
vpColVector s
State of the visual feature.
virtual void display(const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
vpBasicFeatureDeallocatorType deallocate
static const vpColor green
void setDeallocate(vpBasicFeatureDeallocatorType d)
Class to define colors available for display functionnalities.
virtual vpBasicFeature * duplicate() const =0
class that defines what is a visual feature