vpMomentAlpha.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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:
 * Alpha moment descriptor for in-plane orientation.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/

#ifndef _vpMomentAlpha_h_
#define _vpMomentAlpha_h_

#include <visp3/core/vpMoment.h>



class VISP_EXPORT vpMomentAlpha : public vpMoment
{
private:
  bool m_isRef;
  bool m_symmetric;
  std::vector<double> m_mu3Ref;
  double m_alphaRef;
  double m_symmetricThreshold;

public:
  vpMomentAlpha();
  vpMomentAlpha(const std::vector<double> &mu3_ref, double alpha_ref, double threshold = 1e-6);
  virtual ~vpMomentAlpha(){};

  void compute();
  double get() const { return values[0]; }
  const char *name() const { return "vpMomentAlpha"; }

  inline bool is_ref() const
  {
    if (m_isRef)
      return true;
    else
      return false;
  }

  inline bool is_symmetric() const
  {
    if (m_symmetric)
      return true;
    else
      return false;
  }

  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAlpha &v);
  void printDependencies(std::ostream &os) const;
};

#endif