#include <visp3/core/vpMomentGravityCenterNormalized.h>

Inheritance diagram for vpMomentGravityCenterNormalized:

Public Member Functions
	vpMomentGravityCenterNormalized ()

virtual	~vpMomentGravityCenterNormalized ()

void	compute ()

const char *	name () const

void	printDependencies (std::ostream &os) const

Inherited functionalities from vpMomentGravityCenter
const std::vector< double > &	get () const

double	getXg () const

double	getYg () const

Inherited functionalities from vpMoment
const vpMomentObject &	getObject () const

void	linkTo (vpMomentDatabase &moments)

void	update (vpMomentObject &object)

Protected Member Functions
vpMomentDatabase &	getMoments () const

Protected Attributes
std::vector< double >	values

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpMomentGravityCenterNormalized &v)

Detailed Description

Class describing 2D normalized gravity center moment.

Centered and normalized gravity center moment is defined as follows: $(x_n,y_n)$ where $x_n = x_g a_n$ and $y_n = y_g a_n$ .

vpMomentGravityCenterNormalized depends on vpMomentAreaNormalized to get access to $a_n$ and on vpMomentGravityCenter to get access to $(x_g,y_g)$ .

Examples:: mbot-apriltag-ibvs.cpp, and servoBebop2.cpp.

Definition at line 65 of file vpMomentGravityCenterNormalized.h.

Constructor & Destructor Documentation

◆ vpMomentGravityCenterNormalized()

vpMomentGravityCenterNormalized::vpMomentGravityCenterNormalized ( )

Default constructor.

Definition at line 74 of file vpMomentGravityCenterNormalized.cpp.

◆ ~vpMomentGravityCenterNormalized()

virtual vpMomentGravityCenterNormalized::~vpMomentGravityCenterNormalized ( )

inlinevirtual

Definition at line 69 of file vpMomentGravityCenterNormalized.h.

References vpMomentGravityCenter::compute().

Member Function Documentation

◆ compute()

void vpMomentGravityCenterNormalized::compute ( )

virtual

Computes normalized gravity center moment. Depends on vpMomentAreaNormalized and on vpMomentGravityCenter.

Reimplemented from vpMomentGravityCenter.

Examples:: mbot-apriltag-ibvs.cpp, and servoBebop2.cpp.

Definition at line 49 of file vpMomentGravityCenterNormalized.cpp.

References vpMomentGravityCenter::get(), vpMomentDatabase::get(), vpMoment::get(), vpMoment::getMoments(), vpException::notInitialized, and vpMoment::values.

Referenced by vpMomentCommon::updateAll().

◆ get()

const std::vector< double > & vpMomentGravityCenter::get ( ) const

inherited

Returns a vector of the two gravity center coordinates.

Returns: Coordinates in the following moment: .

Definition at line 60 of file vpMomentGravityCenter.cpp.

References vpMoment::values.

Referenced by compute(), vpMomentCentered::compute(), vpFeatureMomentCentered::compute_interaction(), and printDependencies().

◆ getMoments()

vpMomentDatabase& vpMoment::getMoments ( ) const

inlineprotectedinherited

Returns the linked moment database.

Returns: the moment database

Definition at line 123 of file vpMoment.h.

Referenced by vpMomentArea::compute(), compute(), vpMomentCentered::compute(), vpMomentAreaNormalized::compute(), vpMomentCInvariant::compute(), vpMomentAlpha::compute(), printDependencies(), vpMomentArea::printDependencies(), vpMomentCentered::printDependencies(), vpMomentAreaNormalized::printDependencies(), and vpMomentAlpha::printDependencies().

◆ getObject()

const vpMomentObject& vpMoment::getObject ( ) const

inlineinherited

Definition at line 150 of file vpMoment.h.

Referenced by vpMomentArea::compute(), vpMomentCentered::compute(), vpMomentGravityCenter::compute(), vpMomentAreaNormalized::compute(), vpMomentCInvariant::compute(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpMomentBasic::get(), vpMomentCentered::get(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), vpMomentArea::printDependencies(), vpMomentBasic::printDependencies(), vpMomentCentered::printDependencies(), vpMomentGravityCenter::printDependencies(), vpMomentAreaNormalized::printDependencies(), vpMomentCentered::printWithIndices(), vpMomentCentered::set(), and vpMomentCInvariant::vpMomentCInvariant().

◆ getXg()

double vpMomentGravityCenter::getXg ( ) const

inlineinherited

Shortcut function to retrieve $x_g$ .

Returns: The first gravity center coordinate.

Definition at line 127 of file vpMomentGravityCenter.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), and vpMomentCentered::printDependencies().

◆ getYg()

double vpMomentGravityCenter::getYg ( ) const

inlineinherited

Shortcut function to retrieve $y_g$ .

Returns: The second gravity center coordinate.

Definition at line 132 of file vpMomentGravityCenter.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), and vpMomentCentered::printDependencies().

◆ linkTo()

void vpMoment::linkTo ( vpMomentDatabase & data_base )

inherited

Links the moment to a database of moment primitives. If the moment depends on other moments, these moments must be linked to the same database.

Attention: Two moments of the same class cannot be stored in the same database
#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpPoint.h>
int main()
{
vpPoint p;
std::vector<vpPoint> vec_p;
p.set_x(1); p.set_y(1); // coordinates in meters in the image plane (vertex 1)
vec_p.push_back(p); p.set_x(2); p.set_y(2); // coordinates in meters in the image plane (vertex 2)
vpMomentObject obj(2);
obj.setType(vpMomentObject::DISCRETE); // Discrete mode.
obj.fromVector(vec_p); // Init the dense object with the polygon
vpMomentDatabase db;
vpMomentGravityCenter G; // declaration of gravity center
vpMomentCentered mc; // mc containts centered moments
G.linkTo(db); //add gravity center to database
mc.linkTo(db); //centered moments depend on gravity, add them to the
//database to grant access
G.update(obj); // specify the object for gravity center
mc.update(obj); // and for centered moments
G.compute(); // compute the moment
mc.compute(); //compute centered moments AFTER gravity center
return 0;
}