Visual Servoing Platform  version 3.0.1
vpFeatureMomentCentered.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Implementation for all supported moment features.
32  *
33  * Authors:
34  * Filip Novotny
35  * Manikandan Bakthavatchalam
36  *****************************************************************************/
41 #ifndef __FEATUREMOMENTCENTERED_H__
42 #define __FEATUREMOMENTCENTERED_H__
43 #include <visp3/visual_features/vpFeatureMoment.h>
44 #include <visp3/visual_features/vpFeatureMomentBasic.h>
45 class vpMomentDatabase;
67 class VISP_EXPORT vpFeatureMomentCentered : public vpFeatureMoment{
68 
69 protected:
70 
71  unsigned int order;
75  vpMatrix
76  compute_Lmu_pq(const unsigned int& p, const unsigned int& q, const double& xg, const double& yg,
77  const vpMatrix& L_xg, const vpMatrix& L_yg,
78  const vpMomentBasic& m, const vpFeatureMomentBasic& feature_moment_m) const;
79 
80  public:
81  vpFeatureMomentCentered(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL);
82  void compute_interaction();
83 
84 #ifndef DOXYGEN_SHOULD_SKIP_THIS
85  /* Add function due to pure virtual definition in vpBasicFeature.h */
86  vpMatrix interaction(const unsigned int /* select = FEATURE_ALL */){
87  throw vpException(vpException::functionNotImplementedError,"Not implemented!");
88  }
89 #endif
90 
96  vpMatrix interaction (unsigned int select_one,unsigned int select_two) const;
97 
101  const char* momentName() const { return "vpMomentCentered";}
105  const char* name() const { return "vpFeatureMomentCentered";}
106 
107 friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpFeatureMomentCentered& v);
108 };
109 
110 #endif
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:97
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
Definition: vpMomentBasic.h:70
const char * momentName() const
virtual void compute_interaction(void)
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
error that can be emited by ViSP classes.
Definition: vpException.h:73
This class allows to register all vpMoments so they can access each other according to their dependen...
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpFeatureMoment &featM)
This class defines shared system methods/attributes for 2D moment features but no functional code...
This class allows to register all feature moments (implemented in vpFeatureMoment... classes) so they can access each other according to their dependencies.