Visual Servoing Platform  version 3.4.0
vpFeatureMomentGravityCenter.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Implementation for all supported moment features.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
43 #ifndef _vpFeatureMomentGravityCenter_h_
44 #define _vpFeatureMomentGravityCenter_h_
45 
46 #include <visp3/visual_features/vpFeatureMoment.h>
47 
48 #ifdef VISP_MOMENTS_COMBINE_MATRICES
49 class vpMomentDatabase;
91 
151 class VISP_EXPORT vpFeatureMomentGravityCenter : public vpFeatureMoment
152 {
153 public:
165  vpFeatureMomentGravityCenter(vpMomentDatabase &database, double A_, double B_, double C_,
166  vpFeatureMomentDatabase *featureMoments = NULL)
167  : vpFeatureMoment(database, A_, B_, C_, featureMoments, 2)
168  {
169  }
170  void compute_interaction();
174  const char *momentName() const { return "vpMomentGravityCenter"; }
178  const char *name() const { return "vpFeatureMomentGravityCenter"; }
179 
183  static unsigned int selectXg() { return 1 << 0; }
184 
188  static unsigned int selectYg() { return 1 << 1; }
189 };
190 
191 #else
192 class vpMomentDatabase;
223 {
224 public:
236  vpFeatureMomentGravityCenter(vpMomentDatabase &data_base, double A_, double B_, double C_,
237  vpFeatureMomentDatabase *featureMoments = NULL)
238  : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 2)
239  {
240  }
241  void compute_interaction();
245  const char *momentName() const { return "vpMomentGravityCenter"; }
249  const char *name() const { return "vpFeatureMomentGravityCenter"; }
250 
254  static unsigned int selectXg() { return 1 << 0; }
255 
259  static unsigned int selectYg() { return 1 << 1; }
260 };
261 
262 #endif
263 #endif
virtual const char * name() const =0
virtual void compute_interaction(void)
virtual const char * momentName() const =0
This class allows to register all vpMoments so they can access each other according to their dependen...
This class defines shared system methods/attributes for 2D moment features but no functional code...
vpFeatureMomentGravityCenter(vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=NULL)
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
This class allows to register all feature moments (implemented in vpFeatureMoment... classes) so they can access each other according to their dependencies.