vpMomentCommon.cpp

/****************************************************************************
 *
 * $Id: vpMomentCommon.cpp 4056 2013-01-05 13:04:42Z fspindle $
 *
 * 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:
 * Pre-filled moment database with all commonly used moments.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/

#include <visp/vpMomentCommon.h>
#include <visp/vpMomentObject.h>

vpMomentCommon::vpMomentCommon(double dstSurface,std::vector<double> ref,double refAlpha,double dstZ):
    momentBasic(),
    momentGravity(),
    momentCentered(),
    momentGravityNormalized(),
    momentSurfaceNormalized(dstSurface,dstZ),
    momentCInvariant(),
    momentAlpha(ref,refAlpha),
    momentArea()
{
    momentBasic.linkTo(*this);
    momentGravity.linkTo(*this);
    momentCentered.linkTo(*this);
    momentGravityNormalized.linkTo(*this);
    momentSurfaceNormalized.linkTo(*this);
    momentCInvariant.linkTo(*this);
    momentAlpha.linkTo(*this);
    momentArea.linkTo(*this);
}

void vpMomentCommon::updateAll(vpMomentObject& object){
    try {
        vpMomentDatabase::updateAll(object);

        momentGravity.compute();
        momentCentered.compute();
        momentAlpha.compute();
        momentCInvariant.compute();        

        momentSurfaceNormalized.compute();
        momentGravityNormalized.compute();
        momentArea.compute();

    } catch(const char* ex){
        std::cout << "exception:" << ex <<std::endl;

    }

}

double vpMomentCommon::getSurface(vpMomentObject& object){
    vpMomentDatabase moments;

    vpMomentGravityCenter momentGravity;momentGravity.linkTo(moments);
    vpMomentCentered momentCentered;momentCentered.linkTo(moments);

    moments.updateAll(object);

    momentGravity.compute();
    momentCentered.compute();

    double a;
    if (object.getType()==vpMomentObject::DISCRETE)
        a = momentCentered.get(2,0)+momentCentered.get(0,2);
    else
        a = object.get(0,0);

    return a;

}

double vpMomentCommon::getAlpha(vpMomentObject& object){
    vpMomentDatabase moments;

    vpMomentGravityCenter momentGravity;momentGravity.linkTo(moments);
    vpMomentCentered momentCentered;momentCentered.linkTo(moments);
    vpMomentAlpha momentAlpha; momentAlpha.linkTo(moments);

    moments.updateAll(object);
    momentGravity.compute();
    momentCentered.compute();
    momentAlpha.compute();

    return momentAlpha.get();
}

std::vector<double> vpMomentCommon::getMu3(vpMomentObject& object){
    vpMomentDatabase moments;

    vpMomentGravityCenter momentGravity;momentGravity.linkTo(moments);
    vpMomentCentered momentCentered;momentCentered.linkTo(moments);

    moments.updateAll(object);

    momentGravity.compute();
    momentCentered.compute();

    std::vector<double> mu(4);
    unsigned int idx=0;
    for (unsigned int i=0; i<4; i++) {
      for (unsigned int j=0; j<4; j++) {
        if (i+j==3){
          mu[idx] = momentCentered.get(j,i);
          idx++;
        }
      }
    }
    return mu;
}