Visual Servoing Platform  version 3.2.1 under development (2019-11-19)
vpFeatureMomentCentered.h
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30  *
31  * Description:
32  * Implementation for all supported moment features.
33  *
34  * Authors:
35  * Filip Novotny
36  * Manikandan Bakthavatchalam
37  *****************************************************************************/
43 #ifndef _vpFeatureMomentCentered_h_
44 #define _vpFeatureMomentCentered_h_
45 
46 #include <visp3/visual_features/vpFeatureMoment.h>
47 #include <visp3/visual_features/vpFeatureMomentBasic.h>
48 
49 class vpMomentDatabase;
78 class VISP_EXPORT vpFeatureMomentCentered : public vpFeatureMoment
79 {
80 
81 protected:
82  unsigned int order;
86  vpMatrix compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg, const double &yg,
87  const vpMatrix &L_xg, const vpMatrix &L_yg, const vpMomentBasic &m,
88  const vpFeatureMomentBasic &feature_moment_m) const;
89 
90 public:
91  vpFeatureMomentCentered(vpMomentDatabase &moments, double A, double B, double C,
92  vpFeatureMomentDatabase *featureMoments = NULL);
93  void compute_interaction();
94 
95 #ifndef DOXYGEN_SHOULD_SKIP_THIS
96  /* Add function due to pure virtual definition in vpBasicFeature.h */
97  vpMatrix interaction(const unsigned int /* select = FEATURE_ALL */)
98  {
99  throw vpException(vpException::functionNotImplementedError, "Not implemented!");
100  }
101 #endif
102 
108  vpMatrix interaction(unsigned int select_one, unsigned int select_two) const;
109 
113  const char *momentName() const { return "vpMomentCentered"; }
117  const char *name() const { return "vpFeatureMomentCentered"; }
118 
119  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMomentCentered &v);
120 };
121 
122 #endif
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
Definition: vpMomentBasic.h:74
const char * momentName() const
virtual void compute_interaction(void)
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
error that can be emited by ViSP classes.
Definition: vpException.h:71
This class allows to register all vpMoments so they can access each other according to their dependen...
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpFeatureMoment &featM)
This class defines shared system methods/attributes for 2D moment features but no functional code...
Function not implemented.
Definition: vpException.h:90
This class allows to register all feature moments (implemented in vpFeatureMoment... classes) so they can access each other according to their dependencies.