vpMomentCommon.cpp

/****************************************************************************
 *
 * 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:
 * Pre-filled moment database with all commonly used moments.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/

#include <visp3/core/vpMomentCommon.h>
#include <visp3/core/vpMomentObject.h>

vpMomentCommon::vpMomentCommon(double dstSurface, const std::vector<double> &ref, double refAlpha, double dstZ,
                               bool flg_sxsyfromnormalized)
  : vpMomentDatabase(), momentBasic(), momentGravity(), momentCentered(), momentGravityNormalized(),
    momentSurfaceNormalized(dstSurface, dstZ), momentCInvariant(), momentAlpha(ref, refAlpha), momentArea()
{
  momentCInvariant = new vpMomentCInvariant(flg_sxsyfromnormalized);

  momentBasic.linkTo(*this);
  momentGravity.linkTo(*this);
  momentCentered.linkTo(*this);
  momentGravityNormalized.linkTo(*this);
  momentSurfaceNormalized.linkTo(*this);
  momentCInvariant->linkTo(*this);
  momentAlpha.linkTo(*this);
  momentArea.linkTo(*this);
}

void vpMomentCommon::updateAll(vpMomentObject &object)
{
  try {
    vpMomentDatabase::updateAll(object);

    momentGravity.compute();
    momentCentered.compute();
    momentAlpha.compute();
    momentCInvariant->compute();

    momentSurfaceNormalized.compute();
    momentGravityNormalized.compute();
    momentArea.compute();

  } catch (const char *ex) {
    std::cout << "exception:" << ex << std::endl;
  }
}

double vpMomentCommon::getSurface(vpMomentObject &object)
{
  vpMomentDatabase moments;

  vpMomentGravityCenter momentGravity;
  momentGravity.linkTo(moments);
  vpMomentCentered momentCentered;
  momentCentered.linkTo(moments);

  moments.updateAll(object);

  momentGravity.compute();
  momentCentered.compute();

  double a;
  if (object.getType() == vpMomentObject::DISCRETE)
    a = momentCentered.get(2, 0) + momentCentered.get(0, 2);
  else
    a = object.get(0, 0);

  return a;
}

double vpMomentCommon::getAlpha(vpMomentObject &object)
{
  vpMomentDatabase moments;

  vpMomentGravityCenter momentGravity;
  momentGravity.linkTo(moments);
  vpMomentCentered momentCentered;
  momentCentered.linkTo(moments);
  vpMomentAlpha momentAlpha;
  momentAlpha.linkTo(moments);

  moments.updateAll(object);
  momentGravity.compute();
  momentCentered.compute();
  momentAlpha.compute();

  return momentAlpha.get();
}

std::vector<double> vpMomentCommon::getMu3(vpMomentObject &object)
{
  vpMomentDatabase moments;

  vpMomentGravityCenter momentGravity;
  momentGravity.linkTo(moments);
  vpMomentCentered momentCentered;
  momentCentered.linkTo(moments);

  moments.updateAll(object);

  momentGravity.compute();
  momentCentered.compute();

  std::vector<double> mu(4);
  unsigned int idx = 0;
  for (unsigned int j = 0; j < 4; j++) {
    for (unsigned int i = 0; i < 4; i++) {
      if (i + j == 3) {
        mu[idx] = momentCentered.get(i, j);
        idx++;
      }
    }
  }
  return mu;
}

vpMomentCommon::~vpMomentCommon()
{
  if (momentCInvariant)
    delete momentCInvariant;
}