Visual Servoing Platform  version 3.2.1 under development (2019-11-19)
vpFeatureMomentAlpha.h
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30  *
31  * Description:
32  * Implementation for all supported moment features.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
44 #ifndef _vpFeatureMomentAlpha_h_
45 #define _vpFeatureMomentAlpha_h_
46 
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/visual_features/vpFeatureMoment.h>
49 
50 #ifdef VISP_MOMENTS_COMBINE_MATRICES
51 
52 class vpMomentDatabase;
79 class VISP_EXPORT vpFeatureMomentAlpha : public vpFeatureMoment
80 {
81 public:
94  vpFeatureMomentAlpha(vpMomentDatabase &moments, double A, double B, double C,
95  vpFeatureMomentDatabase *featureMoments = NULL)
96  : vpFeatureMoment(moments, A, B, C, featureMoments, 1)
97  {
98  }
99 
100  void compute_interaction();
104  const char *momentName() const { return "vpMomentAlpha"; }
108  const char *name() const { return "vpFeatureMomentAlpha"; }
109 };
110 #else
111 class vpMomentDatabase;
163 class VISP_EXPORT vpFeatureMomentAlpha : public vpFeatureMoment
164 {
165 public:
178  vpFeatureMomentAlpha(vpMomentDatabase &data_base, double A_, double B_, double C_,
179  vpFeatureMomentDatabase *featureMoments = NULL)
180  : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 1)
181  {
182  }
183 
184  void compute_interaction();
188  const char *momentName() const { return "vpMomentAlpha"; }
192  const char *name() const { return "vpFeatureMomentAlpha"; }
193 
194  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
195 };
196 #endif
197 #endif
virtual const char * name() const =0
virtual void compute_interaction(void)
virtual vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
virtual const char * momentName() const =0
class that defines what is a visual feature
Functionality computation for in-plane rotation moment feature : computes the interaction matrix asso...
vpFeatureMomentAlpha(vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=NULL)
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...
const char * momentName() const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
const char * name() const
This class allows to register all feature moments (implemented in vpFeatureMoment... classes) so they can access each other according to their dependencies.