vpMomentArea.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * 2D area of the object
 *
 * Authors:
 * Manikandan Bakthavatchalam
 *
*****************************************************************************/
#include <cmath>
#include <visp3/core/vpMomentArea.h>
#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentObject.h>
 
void vpMomentArea::compute()
{
  /* getObject() returns a reference to a vpMomentObject. This is public
   * member of vpMoment */
  if (getObject().getType() == vpMomentObject::DISCRETE) {
    bool found_moment_centered;
    /*   getMoments() returns a reference to a vpMomentDatabase. It is a
     * protected member of and is inherited from vpMoment .get() is a member
     * function of vpMomentDatabase that returns a specific moment which is
     * linked to it
     */
    const vpMomentCentered &momentCentered =
        static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
    if (!found_moment_centered)
      throw vpException(vpException::notInitialized, "vpMomentCentered not found");
    values[0] = momentCentered.get(2, 0) + momentCentered.get(0, 2);
  } else {
    values[0] = getObject().get(0, 0);
  }
}
 
vpMomentArea::vpMomentArea() : vpMoment() { values.resize(1); }
 
VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentArea &m)
{
  os << (__FILE__) << std::endl;
  os << "a(m00) = " << m.values[0] << std::endl;
  return os;
}
 
void vpMomentArea::printDependencies(std::ostream &os) const
{
  os << (__FILE__) << std::endl;
 
  bool found_moment_centered;
  const vpMomentCentered &momentCentered =
      static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
  if (!found_moment_centered)
    throw vpException(vpException::notInitialized, "vpMomentCentered not found");
 
  if (getObject().getType() == vpMomentObject::DISCRETE) {
    os << "mu20 = " << momentCentered.get(2, 0) << "\t";
    os << "mu02 = " << momentCentered.get(0, 2) << std::endl;
  } else {
    os << "mu00 = " << momentCentered.get(0, 0) << std::endl;
  }
}