vpFeatureMoment.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://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:
 * Base for all moment features
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/
#ifndef __FEATUREMOMENT_H__
#define __FEATUREMOMENT_H__

#include <visp3/core/vpConfig.h>
#include <visp3/visual_features/vpBasicFeature.h>
#include <visp3/core/vpException.h>
#include <vector>

class vpMomentObject;
class vpMomentDatabase;
class vpFeatureMomentDatabase;
class vpMoment;


class VISP_EXPORT vpFeatureMoment : public vpBasicFeature
{
protected:
  const vpMoment* moment;
  const vpMoment& getMoment() const {return *moment;}
  vpMomentDatabase& moments;
  vpFeatureMomentDatabase* featureMomentsDataBase;
  std::vector<vpMatrix> interaction_matrices;

  double A;
  double B;
  double C;
  char _name[255];

//private:
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
//  vpFeatureMoment(const vpFeatureMoment &fm)
//    : vpBasicFeature(), moment(NULL), moments(fm.moments), featureMomentsDataBase(NULL),
//      interaction_matrices(), A(0), B(0), C(0)
//  {
//    throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//  }
//  vpFeatureMoment &operator=(const vpFeatureMoment &){
//    throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//    return *this;
//  }
//#endif

public:
  vpFeatureMoment(vpMomentDatabase& data_base,double A_=0.0, double B_=0.0, double C_=0.0,
                  vpFeatureMomentDatabase* featureMoments=NULL,unsigned int nbmatrices=1)
    : vpBasicFeature(), moment(NULL),
      moments(data_base),
      featureMomentsDataBase(featureMoments),
      interaction_matrices(nbmatrices),
      A(A_),B(B_),C(C_)
  {}

  virtual ~vpFeatureMoment();

  virtual void  compute_interaction (void);
  vpBasicFeature* duplicate ()  const;
  void  display (const vpCameraParameters &cam, const vpImage< unsigned char > &I,
                 const vpColor &color=vpColor::green, unsigned int thickness=1) const ;
  void  display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I,
                 const vpColor &color=vpColor::green, unsigned int thickness=1) const ;

  int   getDimension (unsigned int select=FEATURE_ALL) const;
  void  init (void);
  vpMatrix  interaction (const unsigned int select=FEATURE_ALL) ;
  void linkTo(vpFeatureMomentDatabase& featureMoments);

  virtual const char* momentName() const = 0;
  virtual const char* name() const = 0;
  void  print (const unsigned int select=FEATURE_ALL) const ;
  virtual void printDependencies(std::ostream& os) const;

  void update (double A, double B, double C);

  friend VISP_EXPORT std::ostream& operator<<(std::ostream & os, const vpFeatureMoment& featM);
};

class VISP_EXPORT vpMomentGenericFeature : public vpFeatureMoment{
public:
  vpMomentGenericFeature(vpMomentDatabase& data_base,double A_, double B_, double C_,
                         vpFeatureMomentDatabase* featureMoments, const vpMoment* p_moment)
    : vpFeatureMoment(data_base,A_,B_,C_,featureMoments){this->moment = p_moment;}
  const char* momentName() const { return NULL;}
  virtual const char* name() const { return NULL;}
};

#endif