Visual Servoing Platform  version 3.1.0
vpMomentArea.cpp
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30  *
31  * Description:
32  * 2D area of the object
33  *
34  * Authors:
35  * Manikandan Bakthavatchalam
36  *
37  *****************************************************************************/
38 #include <cmath>
39 #include <visp3/core/vpMomentArea.h>
40 #include <visp3/core/vpMomentCentered.h>
41 #include <visp3/core/vpMomentDatabase.h>
42 #include <visp3/core/vpMomentObject.h>
43 
49 {
50  /* getObject() returns a reference to a vpMomentObject. This is public
51  * member of vpMoment */
52  if (getObject().getType() == vpMomentObject::DISCRETE) {
53  bool found_moment_centered;
54  /* getMoments() returns a reference to a vpMomentDatabase. It is a
55  * protected member of and is inherited from vpMoment .get() is a member
56  * function of vpMomentDatabase that returns a specific moment which is
57  * linked to it
58  */
59  const vpMomentCentered &momentCentered =
60  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
61  if (!found_moment_centered)
62  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
63  values[0] = momentCentered.get(2, 0) + momentCentered.get(0, 2);
64  } else {
65  values[0] = getObject().get(0, 0);
66  }
67 }
68 
73 
77 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentArea &m)
78 {
79  os << (__FILE__) << std::endl;
80  os << "a(m00) = " << m.values[0] << std::endl;
81  return os;
82 }
83 
89 void vpMomentArea::printDependencies(std::ostream &os) const
90 {
91  os << (__FILE__) << std::endl;
92 
93  bool found_moment_centered;
94  const vpMomentCentered &momentCentered =
95  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
96  if (!found_moment_centered)
97  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
98 
99  if (getObject().getType() == vpMomentObject::DISCRETE) {
100  os << "mu20 = " << momentCentered.get(2, 0) << "\t";
101  os << "mu02 = " << momentCentered.get(0, 2) << std::endl;
102  } else {
103  os << "mu00 = " << momentCentered.get(0, 0) << std::endl;
104  }
105 }
double get(unsigned int i, unsigned int j) const
const vpMoment & get(const char *type, bool &found) const
error that can be emited by ViSP classes.
Definition: vpException.h:71
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMomentArea &m)
Class handling the surface moment.
Definition: vpMomentArea.h:54
const vpMomentObject & getObject() const
Definition: vpMoment.h:150
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:110
const std::vector< double > & get() const
This class defines the double-indexed centered moment descriptor .
void printDependencies(std::ostream &os) const
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:123
std::vector< double > values
Definition: vpMoment.h:118