Visual Servoing Platform  version 3.3.0

#include <vpFeaturePoint.h>

+ Inheritance diagram for vpFeaturePoint:

Public Types

enum  { FEATURE_ALL = 0xffff }
 
enum  vpBasicFeatureDeallocatorType { user, vpServo }
 
Deprecated functions
enum  vpFeaturePointType { X = 1, Y = 2 }
 

Public Member Functions

 vpFeaturePoint ()
 
virtual ~vpFeaturePoint ()
 
void buildFrom (double x, double y, double Z)
 
void display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
 
void display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
 
vpFeaturePointduplicate () const
 
vpColVector error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
 
vpColVector error (unsigned int select=FEATURE_ALL)
 
double get_x () const
 
double get_y () const
 
double get_Z () const
 
void init ()
 
vpMatrix interaction (unsigned int select=FEATURE_ALL)
 
void print (unsigned int select=FEATURE_ALL) const
 
void set_x (double x)
 
void set_y (double y)
 
void set_Z (double Z)
 
void set_xyZ (double x, double y, double Z)
 

Static Public Member Functions

static unsigned int selectX ()
 
static unsigned int selectY ()
 

Static Public Attributes

static const unsigned int FEATURE_LINE [32]
 

Protected Attributes

vpColVector s
 
unsigned int dim_s
 
bool * flags
 
unsigned int nbParameters
 

Inherited functionalities from vpBasicFeature

unsigned int dimension_s ()
 
vpColVector get_s (unsigned int select=FEATURE_ALL) const
 
vpBasicFeatureDeallocatorType getDeallocate ()
 
unsigned int getDimension (unsigned int select=FEATURE_ALL) const
 
virtual double operator[] (unsigned int i) const
 
void setDeallocate (vpBasicFeatureDeallocatorType d)
 
void setFlags ()
 
static unsigned int selectAll ()
 
vpBasicFeatureDeallocatorType deallocate
 
void resetFlags ()
 

Detailed Description

Class that defines a 2D point visual feature $ s$ which is composed by two parameters that are the cartesian coordinates $ x $ and $ y $.

In this class $ x $ and $ y $ are the 2D coordinates in the image plane and are given in meter. $ Z $ which is the 3D coordinate representing the depth is also a parameter of the point. It is needed during the computation of the interaction matrix $ L $.

The visual features can be set easily from an instance of the classes vpPoint, vpDot or vpDot2. For more precision see the vpFeatureBuilder class.

Once the values of the visual features are set, the interaction() method allows to compute the interaction matrix $ L $ associated to the visual feature, while the error() method computes the error vector $(s - s^*)$ between the current visual feature and the desired one.

The code below shows how to create a eye-in hand visual servoing task using a 2D point feature $(x,y)$ that correspond to the 2D coordinates of a point in the image plane. To control six degrees of freedom, at least four other features must be considered like two other point features for example. First we create a current ( $s$) 2D point feature. Then we set the task to use the interaction matrix associated to the current feature $L_s$. And finally we compute the camera velocity $v=-\lambda \; L_s^+ \; (s-s^*)$. The current feature $s$ is updated in the while() loop.

#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
int main()
{
vpServo task; // Visual servoing task
vpFeaturePoint sd; //The desired point feature.
//Set the desired features x and y
double xd = 0;
double yd = 0;
//Set the depth of the point in the camera frame.
double Zd = 1;
//Set the point feature thanks to the desired parameters.
sd.buildFrom(xd, yd, Zd);
vpFeaturePoint s; //The current point feature.
//Set the current features x and y
double x; //You have to compute the value of x.
double y; //You have to compute the value of y.
double Z; //You have to compute the value of Z.
//Set the point feature thanks to the current parameters.
s.buildFrom(x, y, Z);
//In this case the parameter Z is not necessary because the interaction matrix is computed
//with the desired visual feature.
// Set eye-in-hand control law.
// The computed velocities will be expressed in the camera frame
// Interaction matrix is computed with the desired visual features sd
// Add the 2D point feature to the task
task.addFeature(s, sd);
// Control loop
for ( ; ; ) {
// The new parameters x and y must be computed here.
// Update the current point visual feature
s.buildFrom(x, y, Z);
// compute the control law
vpColVector v = task.computeControlLaw(); // camera velocity
}
return 0;
}

If you want to build your own control law, this other example shows how to create a current ( $s$) and desired ( $s^*$) 2D point visual feature, compute the corresponding error vector $(s-s^*)$ and finally build the interaction matrix $L_s$.

#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpFeaturePoint.h>
int main()
{
vpFeaturePoint sd; //The desired point feature.
//Set the desired features x and y
double xd = 0;
double yd = 0;
//Set the depth of the point in the camera frame.
double Zd = 1;
//Set the point feature thanks to the desired parameters.
sd.buildFrom(xd, yd, Zd);
vpFeaturePoint s; //The current point feature.
//Set the current features x and y
double x; //You have to compute the value of x.
double y; //You have to compute the value of y.
double Z; //You have to compute the value of Z.
//Set the point feature thanks to the current parameters.
s.buildFrom(x, y, Z);
// Compute the interaction matrix L_s for the current point feature
vpMatrix L = s.interaction();
// You can also compute the interaction matrix L_s for the desired point feature
// The corresponding line of code is : vpMatrix L = sd.interaction();
// Compute the error vector (s-sd) for the point feature
s.error(s_star);
}

An other fully explained example is given in the Tutorial: Image-based visual servo.

Examples
manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-2D-half-vs.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, testPoseFeatures.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 180 of file vpFeaturePoint.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
FEATURE_ALL 

Definition at line 81 of file vpBasicFeature.h.

◆ vpBasicFeatureDeallocatorType

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 87 of file vpBasicFeature.h.

◆ vpFeaturePointType

Enumerator

Definition at line 231 of file vpFeaturePoint.h.

Constructor & Destructor Documentation

◆ vpFeaturePoint()

vpFeaturePoint::vpFeaturePoint ( )

Default constructor that build a visual feature.

Definition at line 88 of file vpFeaturePoint.cpp.

◆ ~vpFeaturePoint()

virtual vpFeaturePoint::~vpFeaturePoint ( )
inlinevirtual

Destructor.

Definition at line 190 of file vpFeaturePoint.h.

Member Function Documentation

◆ buildFrom()

void vpFeaturePoint::buildFrom ( double  x_,
double  y_,
double  Z_ 
)

Build a 2D point visual feature from the point coordinates in the image plan $ x $ and $ y $. The parameter Z which describes the depth, is set in the same time.

See the vpFeaturePoint class description for more details about $ x $ and $ y $.

Parameters
x_: The $ x $ parameter.
y_: The $ y $ parameter.
Z_: The $ Z $ parameter.
Examples
mbot-apriltag-2D-half-vs.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 394 of file vpFeaturePoint.cpp.

◆ dimension_s()

unsigned int vpBasicFeature::dimension_s ( )
inlineinherited

Return the dimension of the feature vector $\bf s$.

Definition at line 109 of file vpBasicFeature.h.

◆ display() [1/2]

void vpFeaturePoint::display ( const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Display point feature.

Parameters
cam: Camera parameters.
I: Image.
color: Color to use for the display.
thickness: Thickness of the feature representation.

Implements vpBasicFeature.

Examples
servoAfma62DhalfCamVelocity.cpp.

Definition at line 430 of file vpFeaturePoint.cpp.

◆ display() [2/2]

void vpFeaturePoint::display ( const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Display point feature.

Parameters
cam: Camera parameters.
I: color Image.
color: Color to use for the display.
thickness: Thickness of the feature representation.

Implements vpBasicFeature.

Definition at line 456 of file vpFeaturePoint.cpp.

◆ duplicate()

vpFeaturePoint * vpFeaturePoint::duplicate ( ) const
virtual

Create an object with the same type.

s_star = s.duplicate(); // s_star is now a vpFeaturePoint

Implements vpBasicFeature.

Definition at line 482 of file vpFeaturePoint.cpp.

◆ error() [1/2]

vpColVector vpFeaturePoint::error ( const vpBasicFeature s_star,
unsigned int  select = FEATURE_ALL 
)
virtual

Compute the error $ (s-s^*)$ between the current and the desired visual features from a subset of the possible features.

Parameters
s_star: Desired visual feature.
select: The error can be computed for a selection of a subset of the possible point features.
  • To compute the error for all the two point features use vpBasicFeature::FEATURE_ALL. In that case the error vector is a 2 dimension column vector.
  • To compute the error for only one of the point component feature ( $ x, y $) use one of the corresponding function selectX() or selectY(). In that case the error vector is a 1 dimension column vector.
Returns
The error $ (s-s^*)$ between the current and the desired visual feature.

The code below shows how to use this method to manipulate the $ x $ subset:

// Creation of the current feature s
s.buildFrom(0, 0, 1);
// Creation of the desired feature s*
s_star.buildFrom(1, 1, 1);
// Compute the interaction matrix for the x feature
vpMatrix L_x = s.interaction( vpFeaturePoint::selectX() );
// Compute the error vector (s-s*) for the x feature
s.error(s_star, vpFeaturePoint::selectX());

Reimplemented from vpBasicFeature.

Examples
servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 328 of file vpFeaturePoint.cpp.

◆ error() [2/2]

vpColVector vpFeaturePoint::error ( unsigned int  select = FEATURE_ALL)

Compute the error between a visual features and zero.

◆ get_s()

vpColVector vpBasicFeature::get_s ( unsigned int  select = FEATURE_ALL) const
inherited

Get the feature vector $\bf s$.

Examples
servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 113 of file vpBasicFeature.cpp.

◆ get_x()

double vpFeaturePoint::get_x ( ) const

Get the value of $ x $ which represents the x coordinate of the point in the image plan. It is one parameter of the visual feature $ s $.

Returns
The value of $ x $.
Examples
mbot-apriltag-2D-half-vs.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 129 of file vpFeaturePoint.cpp.

◆ get_y()

double vpFeaturePoint::get_y ( ) const

Get the value of $ y $ which represents the x coordinate of the point in the image plan. It is one parameter of the visual feature $ s $.

Returns
The value of $ y $.
Examples
mbot-apriltag-2D-half-vs.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 149 of file vpFeaturePoint.cpp.

◆ get_Z()

double vpFeaturePoint::get_Z ( ) const

Get the value of $ Z $ which represents the depth in the 3D camera frame.

Returns
The value of $ Z $.
Examples
servoSimuPoint2DhalfCamVelocity2.cpp.

Definition at line 108 of file vpFeaturePoint.cpp.

◆ getDeallocate()

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 122 of file vpBasicFeature.h.

◆ getDimension()

unsigned int vpBasicFeature::getDimension ( unsigned int  select = FEATURE_ALL) const
inherited

Get the feature vector dimension.

Definition at line 99 of file vpBasicFeature.cpp.

◆ init()

void vpFeaturePoint::init ( void  )
virtual

Initialize the memory space requested for 2D point visual feature.

Implements vpBasicFeature.

Definition at line 68 of file vpFeaturePoint.cpp.

◆ interaction()

vpMatrix vpFeaturePoint::interaction ( unsigned int  select = FEATURE_ALL)
virtual

Compute and return the interaction matrix $ L $. The computation is made thanks to the values of the point features $ x $ and $ y $ and the depth $ Z $.

\[ L = \left[\begin{array}{c}L_{x} \\ L_{y}\end{array}\right] = \left[\begin{array}{cccccc} -1/Z & 0 & x/Z & xy & -(1+x^2) & y \\ 0 & -1/Z & y/Z & 1+y^2 & -xy & -x \end{array}\right]\]

Parameters
select: Selection of a subset of the possible point features.
  • To compute the interaction matrix for all the two point features use vpBasicFeature::FEATURE_ALL. In that case the dimension of the interaction matrix is $ [2 \times 6] $
  • To compute the interaction matrix for only one of the point component feature ( $ x, y $) use one of the corresponding function selectX() or selectY(). In that case the returned interaction matrix is $ [1 \times 6] $ dimension.
Returns
The interaction matrix computed from the point features.

The code below shows how to compute the interaction matrix associated to the visual feature $ s = x $.

// Creation of the current feature s
s.buildFrom(0, 0, 1);
vpMatrix L_x = s.interaction( vpFeaturePoint::selectX() );

The code below shows how to compute the interaction matrix associated to the visual feature $ s = (x, y) $.

// Creation of the current feature s
s.buildFrom(0, 0, 1);
vpMatrix L_x = s.interaction( vpBasicFeature::FEATURE_ALL );

Implements vpBasicFeature.

Examples
servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 214 of file vpFeaturePoint.cpp.

◆ operator[]()

virtual double vpBasicFeature::operator[] ( unsigned int  i) const
inlinevirtualinherited

Return element i in the state vector (usage : x = s[i] )

Definition at line 129 of file vpBasicFeature.h.

◆ print()

void vpFeaturePoint::print ( unsigned int  select = FEATURE_ALL) const
virtual

Print to stdout the values of the current visual feature $ s $.

Parameters
select: Selection of a subset of the possible point features.
vpFeaturePoint s; // Current visual feature s
// Creation of the current feature s
s.buildFrom(0, 0, 1);
s.print(); // print all the 2 components of the feature
s.print(vpBasicFeature::FEATURE_ALL); // same behavior then previous line
s.print(vpFeaturePoint::selectX()); // print only the x component

Implements vpBasicFeature.

Definition at line 371 of file vpFeaturePoint.cpp.

◆ resetFlags()

void vpBasicFeature::resetFlags ( )
protectedinherited

Definition at line 130 of file vpBasicFeature.cpp.

References vpBasicFeature::flags, and vpBasicFeature::nbParameters.

◆ selectAll()

static unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Definition at line 141 of file vpBasicFeature.h.

◆ selectX()

unsigned int vpFeaturePoint::selectX ( )
static

Function used to select the $ x $ subset of the point visual feature.

This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to $ x $.

This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:

vpServo task;
...
// Add the (x) subset features from the 2D point
Examples
mbot-apriltag-2D-half-vs.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoSimuPoint2DCamVelocity3.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 506 of file vpFeaturePoint.cpp.

◆ selectY()

unsigned int vpFeaturePoint::selectY ( )
static

Function used to select the $ y $ subset of the point visual feature.

This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to $ y $.

This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:

vpServo task;
...
// Add the (y) subset features from the 2D point

Definition at line 526 of file vpFeaturePoint.cpp.

◆ set_x()

◆ set_xyZ()

void vpFeaturePoint::set_xyZ ( double  x_,
double  y_,
double  Z_ 
)

Set the value of $ x $, $ y $ and $ Z $. $ x $ and $ y $ represent the coordinates of the point in the image plan and are the parameters of the visual feature $ s $. $ Z $ is the 3D coordinate in the camera frame representing the depth.

Parameters
x_: $ x $ value to set.
y_: $ y $ value to set.
Z_: $ Z $ value to set.
Examples
servoFlirPtuIBVS.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 162 of file vpFeaturePoint.cpp.

◆ set_y()

◆ set_Z()

◆ setDeallocate()

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType  d)
inlineinherited

Definition at line 136 of file vpBasicFeature.h.

◆ setFlags()

void vpBasicFeature::setFlags ( )
inherited

Set feature flags to true to prevent warning when re-computing the interaction matrix without having updated the feature.

Definition at line 140 of file vpBasicFeature.cpp.

Member Data Documentation

◆ deallocate

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate
protectedinherited

Definition at line 147 of file vpBasicFeature.h.

◆ dim_s

unsigned int vpBasicFeature::dim_s
protectedinherited

Dimension of the visual feature.

Definition at line 93 of file vpBasicFeature.h.

Referenced by vpGenericFeature::duplicate(), vpFeatureEllipse::init(), and vpFeatureLuminance::init().

◆ FEATURE_LINE

const unsigned int vpBasicFeature::FEATURE_LINE
staticinherited
Initial value:
= {
(unsigned int)(1 << 0), (unsigned int)(1 << 1), (unsigned int)(1 << 2), (unsigned int)(1 << 3),
(unsigned int)(1 << 4), (unsigned int)(1 << 5), (unsigned int)(1 << 6), (unsigned int)(1 << 7),
(unsigned int)(1 << 8), (unsigned int)(1 << 9), (unsigned int)(1 << 10), (unsigned int)(1 << 11),
(unsigned int)(1 << 12), (unsigned int)(1 << 13), (unsigned int)(1 << 14), (unsigned int)(1 << 15),
(unsigned int)(1 << 16), (unsigned int)(1 << 17), (unsigned int)(1 << 18), (unsigned int)(1 << 19),
(unsigned int)(1 << 20), (unsigned int)(1 << 21), (unsigned int)(1 << 22), (unsigned int)(1 << 23),
(unsigned int)(1 << 24), (unsigned int)(1 << 25), (unsigned int)(1 << 26), (unsigned int)(1 << 27),
(unsigned int)(1 << 28), (unsigned int)(1 << 29), (unsigned int)(1 << 30), (unsigned int)(1 << 31)}

Definition at line 79 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), and vpFeatureEllipse::selectY().

◆ flags

bool* vpBasicFeature::flags
protectedinherited

◆ nbParameters

unsigned int vpBasicFeature::nbParameters
protectedinherited

Number of parameters needed to compute the interaction matrix.

Definition at line 99 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureEllipse::init(), vpBasicFeature::resetFlags(), and vpFeatureEllipse::setABC().

◆ s

vpFeaturePoint::selectY
static unsigned int selectY()
Definition: vpFeaturePoint.cpp:526
vpFeaturePoint::buildFrom
void buildFrom(double x, double y, double Z)
Definition: vpFeaturePoint.cpp:394
vpServo::EYEINHAND_CAMERA
Definition: vpServo.h:158
vpBasicFeature::FEATURE_ALL
Definition: vpBasicFeature.h:81
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:129
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:163
vpServo::setServo
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:222
vpFeaturePoint::selectX
static unsigned int selectX()
Definition: vpFeaturePoint.cpp:506
vpColVector::print
int print(std::ostream &s, unsigned int length, char const *intro=0) const
Definition: vpColVector.cpp:1390
vpServo::DESIRED
Definition: vpServo.h:189
vpBasicFeature::s
vpColVector s
State of the visual feature.
Definition: vpBasicFeature.h:91
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:496
vpFeaturePoint
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Definition: vpFeaturePoint.h:180
vpServo::setInteractionMatrixType
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:573
vpServo
Definition: vpServo.h:149
vpServo::computeControlLaw
vpColVector computeControlLaw()
Definition: vpServo.cpp:934
vpBasicFeature
class that defines what is a visual feature
Definition: vpBasicFeature.h:76