Visual Servoing Platform  version 3.2.1 under development (2019-08-21) under development (2019-08-21)
vpFeatureMomentCommon.h
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30  *
31  * Description:
32  * Pre-filled pseudo-database used to handle dependencies between common
33  *moment features.
34  *
35  * Authors:
36  * Filip Novotny
37  *
38  *****************************************************************************/
39 
46 #ifndef _vpFeatureMomentCommon_h_
47 #define _vpFeatureMomentCommon_h_
48 #include <visp3/visual_features/vpFeatureMomentAlpha.h>
49 #include <visp3/visual_features/vpFeatureMomentArea.h>
50 #include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
51 #include <visp3/visual_features/vpFeatureMomentBasic.h>
52 #include <visp3/visual_features/vpFeatureMomentCInvariant.h>
53 #include <visp3/visual_features/vpFeatureMomentCentered.h>
54 #include <visp3/visual_features/vpFeatureMomentCommon.h>
55 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
56 #include <visp3/visual_features/vpFeatureMomentGravityCenter.h>
57 #include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
58 
59 class vpMomentDatabase;
60 class vpServo;
158 
227 {
228 private:
229  vpFeatureMomentGravityCenter featureGravity;
230  vpFeatureMomentGravityCenterNormalized featureGravityNormalized;
232  vpFeatureMomentCInvariant featureCInvariant;
233  vpFeatureMomentAlpha featureAlpha;
234  vpFeatureMomentCentered featureCentered;
235  vpFeatureMomentBasic featureMomentBasic;
236  vpFeatureMomentArea feature_moment_area;
237 
238 public:
239  vpFeatureMomentCommon(vpMomentDatabase &moments, double A = 0.0, double B = 0.0, double C = 1.0);
240  void updateAll(double A, double B, double C);
244  vpFeatureMomentAlpha &getFeatureAlpha() { return featureAlpha; }
245 
253  vpFeatureMomentBasic &getFeatureMomentBasic() { return featureMomentBasic; }
257  vpFeatureMomentCentered &getFeatureCentered() { return featureCentered; }
258 
262  vpFeatureMomentCInvariant &getFeatureCInvariant() { return featureCInvariant; }
270  vpFeatureMomentArea &getFeatureArea() { return feature_moment_area; }
275 };
276 
277 #endif
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...
This class allows to access common vpFeatureMoments in a pre-filled database.
vpFeatureMomentCentered & getFeatureCentered()
Functionality computation for normalized surface moment feature. Computes the interaction matrix asso...
Functionality computation for centered and normalized moment feature. Computes the interaction matrix...
Functionality computation for in-plane rotation moment feature : computes the interaction matrix asso...
vpFeatureMomentAlpha & getFeatureAlpha()
This class allows to register all vpMoments so they can access each other according to their dependen...
vpFeatureMomentGravityCenter & getFeatureGravityCenter()
virtual void updateAll(double A=0.0, double B=0.0, double C=1.0)
vpFeatureMomentCInvariant & getFeatureCInvariant()
Functionality computation for 2D rotation/translation/scale non-symmetric invariant moment feature...
vpFeatureMomentGravityCenterNormalized & getFeatureGravityNormalized()
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
Surface moment feature. Computes the interaction matrix associated with vpMomentArea.
vpFeatureMomentAreaNormalized & getFeatureAn()
vpFeatureMomentBasic & getFeatureMomentBasic()
vpFeatureMomentArea & getFeatureArea()
This class allows to register all feature moments (implemented in vpFeatureMoment... classes) so they can access each other according to their dependencies.