#include <vpMomentArea.h>

Inheritance diagram for vpMomentArea:

Public Member Functions
	vpMomentArea ()

virtual	~vpMomentArea ()

Inherited functionalities from vpMomentArea
void	compute ()

const char *	name () const

void	printDependencies (std::ostream &os) const

Inherited functionalities from vpMoment
const vpMomentObject &	getObject () const

const std::vector< double > &	get () 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 vpMomentArea &m)

Detailed Description

Class handling the surface moment.

For a dense planar object, the area corresponds to the zero-order moment:

$a = m_{00} = \mu_{00}$

When considering a discrete set of points, the moment $m_{00}$ simply corresponds to the number of points. Since this is of no use in a servoing scheme, this class uses in this case $a = \mu_{20} + \mu_{02}$ , which is invariant to planar translation and rotation.

Definition at line 62 of file vpMomentArea.h.

Constructor & Destructor Documentation

vpMomentArea::vpMomentArea ( )

Default constructor.

Definition at line 73 of file vpMomentArea.cpp.

References vpMoment::values.

virtual vpMomentArea::~vpMomentArea ( )

inlinevirtual

Definition at line 66 of file vpMomentArea.h.

References vpMoment::compute().

Member Function Documentation

void vpMomentArea::compute ( )

virtual

Has the area $a = m_{00} = \mu_{00}$ for dense objects, $\mu_{20}+\mu_{02}$ for a discrete set of points. Gets the value of $m_{00}$ from vpMomentCentered.

Implements vpMoment.

Definition at line 49 of file vpMomentArea.cpp.

References vpMomentObject::DISCRETE, vpMomentCentered::get(), vpMomentDatabase::get(), vpMomentObject::get(), vpMoment::getMoments(), vpMoment::getObject(), vpException::notInitialized, and vpMoment::values.

Referenced by vpMomentCommon::updateAll().

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

inlineinherited

Returns all values computed by the moment.

Returns: vector of values

Definition at line 155 of file vpMoment.h.

Referenced by vpMomentGravityCenterNormalized::compute(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpMomentCentered::get(), vpFeatureMoment::init(), vpMomentGravityCenterNormalized::printDependencies(), and vpFeatureMoment::update().

vpMomentDatabase& vpMoment::getMoments ( ) const

inlineprotectedinherited

Returns the linked moment database.

Returns: the moment database

Definition at line 123 of file vpMoment.h.

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

const vpMomentObject& vpMoment::getObject ( ) const

inlineinherited

Definition at line 150 of file vpMoment.h.

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;
}

Parameters

data_base : database of moment primitives.

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

Definition at line 98 of file vpMoment.cpp.

References vpException::memoryAllocationError, and vpMoment::name().

Referenced by vpMomentCommon::getAlpha(), vpMomentCommon::getMu3(), vpMomentCommon::getSurface(), and vpMomentCommon::vpMomentCommon().

const char* vpMomentArea::name ( ) const

inlinevirtual

Moment name.

Implements vpMoment.

Definition at line 72 of file vpMomentArea.h.

References vpMoment::operator<<, and vpMoment::printDependencies().

void vpMomentArea::printDependencies ( std::ostream & os ) const

virtual

If the vpMomentObject type is

DISCRETE(set of discrete points), uses mu20+mu02
DENSE_FULL_OBJECT(from image) used mu00

Reimplemented from vpMoment.

Definition at line 90 of file vpMomentArea.cpp.

References vpMomentObject::DISCRETE, vpMomentCentered::get(), vpMomentDatabase::get(), vpMoment::getMoments(), vpMoment::getObject(), and vpException::notInitialized.

void vpMoment::update ( vpMomentObject & moment_object )

inherited

Updates the moment with the current object. This does not compute any values.

Parameters

moment_object : object descriptor of the current camera vision.

Definition at line 115 of file vpMoment.cpp.

Friends And Related Function Documentation

VISP_EXPORT std::ostream& operator<<	(	std::ostream &	os,
		const vpMomentArea &	m
	)

friend

Outputs the moment's values to a stream.

Definition at line 78 of file vpMomentArea.cpp.

Member Data Documentation

std::vector<double> vpMoment::values

protectedinherited

Definition at line 118 of file vpMoment.h.

Referenced by compute(), vpMomentGravityCenterNormalized::compute(), vpMomentCentered::compute(), vpMomentGravityCenter::compute(), vpMomentAreaNormalized::compute(), vpMomentCInvariant::compute(), vpMomentAlpha::compute(), vpMomentCentered::get(), vpMomentGravityCenter::get(), vpMomentCInvariant::getMomentVector(), vpMomentCentered::set(), vpMomentAlpha::vpMomentAlpha(), vpMomentArea(), vpMomentAreaNormalized::vpMomentAreaNormalized(), vpMomentCInvariant::vpMomentCInvariant(), and vpMomentGravityCenter::vpMomentGravityCenter().

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation