vpMomentCommon.cpp

/****************************************************************************
 *
 * 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:
 * Pre-filled moment database with all commonly used moments.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/

#include <visp3/core/vpMomentCommon.h>
#include <visp3/core/vpMomentObject.h>

vpMomentCommon::vpMomentCommon(double dstSurface,std::vector<double> ref,double refAlpha,double dstZ, bool flg_sxsyfromnormalized)
  : vpMomentDatabase(), momentBasic(), momentGravity(), momentCentered(), momentGravityNormalized(),
    momentSurfaceNormalized(dstSurface,dstZ), momentCInvariant(), momentAlpha(ref,refAlpha),
    momentArea()
{
  momentCInvariant = new vpMomentCInvariant(flg_sxsyfromnormalized);

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

vpMomentCommon::~vpMomentCommon(){
   if (momentCInvariant)
     delete momentCInvariant;
}