Visual Servoing Platform  version 3.6.1 under development (2024-10-09)
vpFeatureMomentCentered.h
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10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
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18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
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29  *
30  * Description:
31  * Implementation for all supported moment features.
32  */
33 
38 #ifndef _vpFeatureMomentCentered_h_
39 #define _vpFeatureMomentCentered_h_
40 
41 #include <visp3/core/vpConfig.h>
42 #include <visp3/visual_features/vpFeatureMoment.h>
43 #include <visp3/visual_features/vpFeatureMomentBasic.h>
44 
45 BEGIN_VISP_NAMESPACE
46 class vpMomentDatabase;
47 
77 class VISP_EXPORT vpFeatureMomentCentered : public vpFeatureMoment
78 {
79 protected:
80  unsigned int order;
84  vpMatrix compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg, const double &yg,
85  const vpMatrix &L_xg, const vpMatrix &L_yg, const vpMomentBasic &m,
86  const vpFeatureMomentBasic &feature_moment_m) const;
87 
88 public:
89  vpFeatureMomentCentered(vpMomentDatabase &moments, double A, double B, double C,
90  vpFeatureMomentDatabase *featureMoments = nullptr);
91 
92  void compute_interaction() VP_OVERRIDE;
93 
94 #ifndef DOXYGEN_SHOULD_SKIP_THIS
95  /* Add function due to pure virtual definition in vpBasicFeature.h */
96  vpMatrix interaction(unsigned int /* select = FEATURE_ALL */) VP_OVERRIDE
97  {
98  throw vpException(vpException::functionNotImplementedError, "Not implemented!");
99  }
100 #endif
101 
102  vpMatrix interaction(unsigned int select_one, unsigned int select_two) const;
103 
107  const std::string momentName() const VP_OVERRIDE
108  {
109  return "vpMomentCentered";
110  }
111 
115  const std::string name() const VP_OVERRIDE
116  {
117  return "vpFeatureMomentCentered";
118  }
119 
120  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMomentCentered &v);
121 };
122 END_VISP_NAMESPACE
123 #endif
error that can be emitted by ViSP classes.
Definition: vpException.h:60
@ functionNotImplementedError
Function not implemented.
Definition: vpException.h:66
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
const std::string name() const VP_OVERRIDE
const std::string momentName() const VP_OVERRIDE
This class allows to register all feature moments (implemented in vpFeatureMoment....
This class defines shared system methods/attributes for 2D moment features but no functional code....
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpFeatureMoment &featM)
vpMatrix interaction(unsigned int select=FEATURE_ALL) VP_OVERRIDE
virtual void compute_interaction(void)
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject which allows to u...
Definition: vpMomentBasic.h:73
This class allows to register all vpMoments so they can access each other according to their dependen...