vpFeatureMomentGravityCenter.cpp

/****************************************************************************
 *
 * $Id: vpFeatureMomentImpl.cpp 3317 2011-09-06 14:14:47Z fnovotny $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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:
 * Implementation for all supported moment features.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/

#include <visp/vpConfig.h>

#ifdef VISP_MOMENTS_COMBINE_MATRICES

#include <vector>
#include <limits>

#include <visp/vpMomentObject.h>
#include <visp/vpFeatureMomentGravityCenter.h>
#include <visp/vpFeatureMomentBasic.h>
#include <visp/vpFeatureMomentDatabase.h>


void vpFeatureMomentGravityCenter::compute_interaction(){
    bool found_featuremoment_basic;

    vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMoments->get("vpFeatureMomentBasic",found_featuremoment_basic)));
    vpMomentObject& momentObject = moment->getObject();

    if(!found_featuremoment_basic) throw vpException(vpException::notInitialized,"vpFeatureMomentBasic not found");


    interaction_matrices[0].resize(1,6);
    interaction_matrices[1].resize(1,6);

    interaction_matrices[0] = featureMomentBasic.interaction(1, 0) / momentObject.get(0, 0) - momentObject.get(1, 0) * pow(momentObject.get(0, 0), -0.2e1) * featureMomentBasic.interaction(0, 0);
    interaction_matrices[1] = featureMomentBasic.interaction(0, 1) / momentObject.get(0, 0) - momentObject.get(0, 1) * pow(momentObject.get(0, 0), -0.2e1) * featureMomentBasic.interaction(0, 0);


}

#else

#include <vector>
#include <limits>

#include <visp/vpMomentObject.h>
#include <visp/vpMomentDatabase.h>
#include <visp/vpMomentGravityCenter.h>
#include <visp/vpMomentCentered.h>
#include <visp/vpFeatureMomentGravityCenter.h>
#include <visp/vpMomentObject.h>


void vpFeatureMomentGravityCenter::compute_interaction(){
    bool found_moment_centered;
    bool found_moment_gravity;

    vpMomentCentered& momentCentered= (static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
    vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));


    vpMomentObject& momentObject = moment->getObject();

    if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
    if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");


    interaction_matrices[0].resize(1,6);
    interaction_matrices[1].resize(1,6);
    int epsilon;
    if (momentObject.getType()==vpMomentObject::DISCRETE) {
        epsilon=1;
    } else {
        epsilon=4;
    }
    double n11 = momentCentered.get(1,1)/momentObject.get(0,0);
    double n20 = momentCentered.get(2,0)/momentObject.get(0,0);
    double n02 = momentCentered.get(0,2)/momentObject.get(0,0);
    double Xg = momentGravity.getXg();
    double Yg = momentGravity.getYg();
    double Zg_inv = A*Xg+B*Yg+C;
    double Xgvz = Xg*Zg_inv+A*epsilon*n20+B*epsilon*n11;
    double Ygvz = Yg*Zg_inv+A*epsilon*n11+B*epsilon*n02;
    double Xgwx = Xg*Yg+epsilon*n11;
    double Ygwy = -Xgwx;
    double Xgwy = -(1+Xg*Xg+epsilon*n20);
    double Ygwx = 1+Yg*Yg+epsilon*n02;

    int VX = 0;
    int VY = 1;
    int VZ = 2;
    int WX = 3;
    int WY = 4;
    int WZ = 5;

    interaction_matrices[0][0][VX] = -Zg_inv;
    interaction_matrices[0][0][VY] = 0;
    interaction_matrices[0][0][VZ] = Xgvz;

    interaction_matrices[0][0][WX] = Xgwx;
    interaction_matrices[0][0][WY] = Xgwy;
    interaction_matrices[0][0][WZ] = Yg;

    interaction_matrices[1][0][VX] = 0;
    interaction_matrices[1][0][VY] = -Zg_inv;
    interaction_matrices[1][0][VZ] = Ygvz;

    interaction_matrices[1][0][WX] = Ygwx;
    interaction_matrices[1][0][WY] = Ygwy;
    interaction_matrices[1][0][WZ] = -Xg;

}

#endif