vpMomentCInvariant.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:
 * Descriptor for various invariants used to drive space roations around X and Y axis.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/
#ifndef __MOMENTCINVARIANT_H__
#define __MOMENTCINVARIANT_H__

#include <visp3/core/vpMoment.h>
#include <visp3/core/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(const vpMomentCentered& momentCentered, std::vector<double>& I);

   /* To calculate Sx and Sy from normalized moments */
   void calcSxSy(double& sx, double& sy) const;
   void calcSxSyNormalized(double& sx, double& sy) const;
   std::vector<double> cn;  // same as s above but calculated from normalized moments
   std::vector<double> sn;  // same as c above but calculated from normalized moments
   double In1;              // same as I1 in Sx,Sy formulae but calculated from normalized moments
   bool flg_sxsynormalization_;

 public:    
    
   vpMomentCInvariant(bool flg_sxsynormalization = false);
   virtual ~vpMomentCInvariant() {};

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

        void compute();

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

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

        void printInvariants(std::ostream& os) const;

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

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

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

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

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

        double getIn1() const {return In1;}

        double getCN(unsigned int i) const {return cn[i];}

        double getSN(unsigned int i) const {return sn[i];}

        bool isSxSyfromNormalizedMoments() const {return flg_sxsynormalization_;};

        inline const std::vector<double>& getMomentVector() const { return values; }

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