vpMomentGravityCenterNormalized.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:
 * 2D normalized gravity center moment descriptor (usually described by the pair Xn,Yn)
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/

#include <visp3/core/vpMomentGravityCenterNormalized.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/core/vpMomentAreaNormalized.h>

void vpMomentGravityCenterNormalized::compute(){
    bool found_moment_gravity;    
    bool found_moment_surface_normalized;    
    
    const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(getMoments().get("vpMomentAreaNormalized",found_moment_surface_normalized));
    const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));

    if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
    if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");

    double Xn = momentGravity.get()[0]*momentSurfaceNormalized.get()[0];
    double Yn = momentGravity.get()[1]*momentSurfaceNormalized.get()[0];

    values[0] = Xn;
    values[1] = Yn;

}

vpMomentGravityCenterNormalized::vpMomentGravityCenterNormalized() : vpMomentGravityCenter(){}

VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentGravityCenterNormalized& m){
    os << (__FILE__) << std::endl;
    os << "(Xn,Yn) = (" << m.values[0] << ", " << m.values[1] << ")" << std::endl;
    return os;    
}

void  vpMomentGravityCenterNormalized::printDependencies(std::ostream& os) const{
    os << (__FILE__) << std::endl;
    bool found_moment_gravity;
    bool found_moment_surface_normalized;

    const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(getMoments().get("vpMomentAreaNormalized",found_moment_surface_normalized));
    const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));

    if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
    if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
    os << "Xg = " << momentGravity.get()[0] << "\t" << "Yg = " << momentGravity.get()[1] << std::endl;
    os << "An = " << momentSurfaceNormalized.get()[0] << std::endl;
}