Visual Servoing Platform  version 3.2.0 under development (2018-08-20)
vpMomentArea Class Reference

#include <visp3/core/vpMomentArea.h>

+ Inheritance diagram for vpMomentArea:

Public Member Functions

 vpMomentArea ()
 
virtual ~vpMomentArea ()
 
Inherited functionalities from vpMomentArea
void compute ()
 
const char * name () const
 
void printDependencies (std::ostream &os) const
 
Inherited functionalities from vpMoment
const vpMomentObjectgetObject () const
 
const std::vector< double > & get () const
 
void linkTo (vpMomentDatabase &moments)
 
void update (vpMomentObject &object)
 

Protected Member Functions

vpMomentDatabasegetMoments () const
 

Protected Attributes

std::vector< double > values
 

Friends

VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpMomentArea &m)
 

Detailed Description

Class handling the surface moment.

Definition at line 54 of file vpMomentArea.h.

Constructor & Destructor Documentation

vpMomentArea::vpMomentArea ( )

Default constructor.

Definition at line 72 of file vpMomentArea.cpp.

References vpMoment::values.

virtual vpMomentArea::~vpMomentArea ( )
inlinevirtual

Definition at line 58 of file vpMomentArea.h.

References vpMoment::compute().

Member Function Documentation

void vpMomentArea::compute ( )
virtual
void vpMoment::linkTo ( vpMomentDatabase data_base)
inherited

Links the moment to a database of moment primitives. If the moment depends on other moments, these moments must be linked to the same database.

Attention
Two moments of the same class cannot be stored in the same database
#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpPoint.h>
int main()
{
std::vector<vpPoint> vec_p;
p.set_x(1); p.set_y(1); // coordinates in meters in the image plane (vertex 1)
vec_p.push_back(p); p.set_x(2); p.set_y(2); // coordinates in meters in the image plane (vertex 2)
obj.setType(vpMomentObject::DISCRETE); // Discrete mode.
obj.fromVector(vec_p); // Init the dense object with the polygon
vpMomentGravityCenter G; // declaration of gravity center
vpMomentCentered mc; // mc containts centered moments
G.linkTo(db); //add gravity center to database
mc.linkTo(db); //centered moments depend on gravity, add them to the
//database to grant access
G.update(obj); // specify the object for gravity center
mc.update(obj); // and for centered moments
G.compute(); // compute the moment
mc.compute(); //compute centered moments AFTER gravity center
return 0;
}
Parameters
data_base: database of moment primitives.
Examples:
mbot-apriltag-ibvs.cpp.

Definition at line 98 of file vpMoment.cpp.

References vpException::memoryAllocationError, and vpMoment::name().

Referenced by vpMomentCommon::getAlpha(), vpMomentCommon::getMu3(), vpMomentCommon::getSurface(), and vpMomentCommon::vpMomentCommon().

const char* vpMomentArea::name ( ) const
inlinevirtual

Moment name.

Implements vpMoment.

Definition at line 64 of file vpMomentArea.h.

References vpMoment::operator<<, and vpMoment::printDependencies().

void vpMomentArea::printDependencies ( std::ostream &  os) const
virtual

If the vpMomentObject type is

  1. DISCRETE(set of discrete points), uses mu20+mu02
  2. DENSE_FULL_OBJECT(from image) used mu00

Reimplemented from vpMoment.

Definition at line 89 of file vpMomentArea.cpp.

References vpMomentObject::DISCRETE, vpMomentCentered::get(), vpMomentDatabase::get(), vpMoment::getMoments(), vpMoment::getObject(), and vpException::notInitialized.

void vpMoment::update ( vpMomentObject moment_object)
inherited

Updates the moment with the current object. This does not compute any values.

Parameters
moment_object: object descriptor of the current camera vision.

Definition at line 115 of file vpMoment.cpp.

Friends And Related Function Documentation

VISP_EXPORT std::ostream& operator<< ( std::ostream &  os,
const vpMomentArea m 
)
friend

Outputs the moment's values to a stream.

Definition at line 77 of file vpMomentArea.cpp.

Member Data Documentation