44 #include <visp/vpBasicFeature.h>
45 #include <visp/vpFeatureThetaU.h>
46 #include <visp/vpMath.h>
49 #include <visp/vpException.h>
50 #include <visp/vpMatrixException.h>
51 #include <visp/vpFeatureException.h>
54 #include <visp/vpDebug.h>
421 if (
flags[i] ==
false)
425 vpTRACE(
"Warning !!! The interaction matrix is computed but Tu_x was not set yet");
428 vpTRACE(
"Warning !!! The interaction matrix is computed but Tu_y was not set yet");
431 vpTRACE(
"Warning !!! The interaction matrix is computed but Tu_z was not set yet");
434 vpTRACE(
"Problem during the reading of the variable flags");
443 for (
unsigned int i=0 ; i < 3 ; i++) {
455 for (
unsigned int i=0 ; i < 3 ; i++)
463 if (rotation ==
cdRc) {
475 Lx[0][0] = 0 ; Lx[0][1] = 0 ; Lx[0][2] = 0 ;
476 for (
int i=0 ; i < 3 ; i++) Lx[0][i+3] = Lw[0][i] ;
486 Ly[0][0] = 0 ; Ly[0][1] = 0 ; Ly[0][2] = 0 ;
487 for (
int i=0 ; i < 3 ; i++) Ly[0][i+3] = Lw[1][i] ;
496 Lz[0][0] = 0 ; Lz[0][1] = 0 ; Lz[0][2] = 0 ;
497 for (
int i=0 ; i < 3 ; i++) Lz[0][i+3] = Lw[2][i] ;
567 const unsigned int select)
574 "s* should be zero !")) ;
632 std::cout <<
"ThetaU: ";
634 std::cout <<
s[0] <<
" ";
637 std::cout <<
s[1] <<
" ";
640 std::cout <<
s[2] <<
" ";
642 std::cout << std::endl;
659 if (rotation ==
cdRc)
678 static int firsttime =0 ;
699 static int firsttime =0 ;