Visual Servoing Platform  version 3.6.1 under development (2024-03-28)
vpFeatureMomentCommon.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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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.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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29  *
30  * Description:
31  * Pre-filled pseudo-database used to handle dependencies between common
32  *moment features.
33  */
34 
41 #ifndef _vpFeatureMomentCommon_h_
42 #define _vpFeatureMomentCommon_h_
43 #include <visp3/visual_features/vpFeatureMomentAlpha.h>
44 #include <visp3/visual_features/vpFeatureMomentArea.h>
45 #include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
46 #include <visp3/visual_features/vpFeatureMomentBasic.h>
47 #include <visp3/visual_features/vpFeatureMomentCInvariant.h>
48 #include <visp3/visual_features/vpFeatureMomentCentered.h>
49 #include <visp3/visual_features/vpFeatureMomentCommon.h>
50 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
51 #include <visp3/visual_features/vpFeatureMomentGravityCenter.h>
52 #include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
53 
54 class vpMomentDatabase;
55 class vpServo;
217 {
218 private:
219  vpFeatureMomentGravityCenter featureGravity;
220  vpFeatureMomentGravityCenterNormalized featureGravityNormalized;
222  vpFeatureMomentCInvariant featureCInvariant;
223  vpFeatureMomentAlpha featureAlpha;
224  vpFeatureMomentCentered featureCentered;
225  vpFeatureMomentBasic featureMomentBasic;
226  vpFeatureMomentArea feature_moment_area;
227 
228 public:
229  vpFeatureMomentCommon(vpMomentDatabase &moments, double A = 0.0, double B = 0.0, double C = 1.0);
230  void updateAll(double A, double B, double C);
234  vpFeatureMomentAlpha &getFeatureAlpha() { return featureAlpha; }
235 
243  vpFeatureMomentBasic &getFeatureMomentBasic() { return featureMomentBasic; }
247  vpFeatureMomentCentered &getFeatureCentered() { return featureCentered; }
248 
252  vpFeatureMomentCInvariant &getFeatureCInvariant() { return featureCInvariant; }
253 
258 
262  vpFeatureMomentArea &getFeatureArea() { return feature_moment_area; }
263 
268 };
269 
270 #endif
Functionality computation for in-plane rotation moment feature : computes the interaction matrix asso...
Functionality computation for normalized surface moment feature. Computes the interaction matrix asso...
Surface moment feature. Computes the interaction matrix associated with vpMomentArea.
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
Functionality computation for 2D rotation/translation/scale non-symmetric invariant moment feature....
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
This class allows to access common vpFeatureMoments in a pre-filled database.
vpFeatureMomentCInvariant & getFeatureCInvariant()
vpFeatureMomentGravityCenter & getFeatureGravityCenter()
vpFeatureMomentBasic & getFeatureMomentBasic()
vpFeatureMomentAlpha & getFeatureAlpha()
vpFeatureMomentAreaNormalized & getFeatureAn()
vpFeatureMomentCentered & getFeatureCentered()
vpFeatureMomentArea & getFeatureArea()
vpFeatureMomentGravityCenterNormalized & getFeatureGravityNormalized()
This class allows to register all feature moments (implemented in vpFeatureMoment....
virtual void updateAll(double A=0.0, double B=0.0, double C=1.0)
Functionality computation for centered and normalized moment feature. Computes the interaction matrix...
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
This class allows to register all vpMoments so they can access each other according to their dependen...