vpFeatureMomentCentered.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:
 * Implementation for all supported moment features.
 *
 * Authors:
 * Filip Novotny
 * Manikandan Bakthavatchalam
 *****************************************************************************/
#ifndef _vpFeatureMomentCentered_h_
#define _vpFeatureMomentCentered_h_

#include <visp3/visual_features/vpFeatureMoment.h>
#include <visp3/visual_features/vpFeatureMomentBasic.h>

class vpMomentDatabase;
class VISP_EXPORT vpFeatureMomentCentered : public vpFeatureMoment
{

protected:
  unsigned int order;
  vpMatrix compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg, const double &yg,
                          const vpMatrix &L_xg, const vpMatrix &L_yg, const vpMomentBasic &m,
                          const vpFeatureMomentBasic &feature_moment_m) const;

public:
  vpFeatureMomentCentered(vpMomentDatabase &moments, double A, double B, double C,
                          vpFeatureMomentDatabase *featureMoments = NULL);
  void compute_interaction();

#ifndef DOXYGEN_SHOULD_SKIP_THIS
  /* Add function due to pure virtual definition in vpBasicFeature.h */
  vpMatrix interaction(unsigned int /* select = FEATURE_ALL */)
  {
    throw vpException(vpException::functionNotImplementedError, "Not implemented!");
  }
#endif

  vpMatrix interaction(unsigned int select_one, unsigned int select_two) const;

  const char *momentName() const { return "vpMomentCentered"; }
  const char *name() const { return "vpFeatureMomentCentered"; }

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

#endif