vpMomentCInvariant.h

/****************************************************************************
 *
 * $Id: vpMomentCInvariant.h 3530 2012-01-03 10:52:12Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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:
 * Descriptor for various invariants used to drive space roations around X and Y axis.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/
#ifndef __MOMENTCINVARIANT_H__
#define __MOMENTCINVARIANT_H__

#include <visp/vpMoment.h>
#include <visp/vpMomentDatabase.h>

class vpMomentCentered;
class vpMomentBasic;

class VISP_EXPORT vpMomentCInvariant : public vpMoment {
 private:   
   std::vector<double> I;
   std::vector<double> II;
   std::vector<double> c;
   std::vector<double> s;
        double K;

        void computeI(vpMomentCentered& momentCentered, std::vector<double>& I);
 public:    
    
        vpMomentCInvariant();

        double C1(){ return values[0]; }
        double C2(){ return values[1]; }
        double C3(){ return values[2]; }
        double C4(){ return values[3]; }
        double C5(){ return values[4]; }
        double C6(){ return values[5]; }
        double C7(){ return values[6]; }
        double C8(){ return values[7]; }
        double C9(){ return values[8]; }
        double C10(){ return values[9]; }

    void compute();

        double get(unsigned int i){ return values[i]; }

        double getC(unsigned int i){return c[i];}
        double getI(unsigned int index){return I[index];}

        double getII(unsigned int i){return II[i];}
        double getK(){return K;}

        double getS(unsigned int i){return s[i];}

        const char* name(){return "vpMomentCInvariant";}

        void printI(unsigned int index);
    
        double Px(){ return values[12]; }
        double Py(){ return values[13]; }

        double Sx(){ return values[10]; }
        double Sy(){ return values[11]; }

        friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentCInvariant& v);
};

#endif