vpFeatureMomentGravityCenter.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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 https://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
 *
*****************************************************************************/
#ifndef _vpFeatureMomentGravityCenter_h_
#define _vpFeatureMomentGravityCenter_h_
 
#include <visp3/visual_features/vpFeatureMoment.h>
 
#ifdef VISP_MOMENTS_COMBINE_MATRICES
class vpMomentDatabase;
 
class VISP_EXPORT vpFeatureMomentGravityCenter : public vpFeatureMoment
{
public:
  vpFeatureMomentGravityCenter(vpMomentDatabase &database, double A_, double B_, double C_,
                               vpFeatureMomentDatabase *featureMoments = NULL)
    : vpFeatureMoment(database, A_, B_, C_, featureMoments, 2)
  {
  }
  void compute_interaction();
  const char *momentName() const { return "vpMomentGravityCenter"; }
  const char *name() const { return "vpFeatureMomentGravityCenter"; }
 
  static unsigned int selectXg() { return 1 << 0; }
 
  static unsigned int selectYg() { return 1 << 1; }
};
 
#else
class vpMomentDatabase;
class VISP_EXPORT vpFeatureMomentGravityCenter : public vpFeatureMoment
{
public:
  vpFeatureMomentGravityCenter(vpMomentDatabase &data_base, double A_, double B_, double C_,
                               vpFeatureMomentDatabase *featureMoments = NULL)
    : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 2)
  {
  }
  void compute_interaction();
  const char *momentName() const { return "vpMomentGravityCenter"; }
  const char *name() const { return "vpFeatureMomentGravityCenter"; }
 
  static unsigned int selectXg() { return 1 << 0; }
 
  static unsigned int selectYg() { return 1 << 1; }
};
 
#endif
#endif