Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
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 
225 {
226 private:
227  vpFeatureMomentGravityCenter featureGravity;
228  vpFeatureMomentGravityCenterNormalized featureGravityNormalized;
230  vpFeatureMomentCInvariant featureCInvariant;
231  vpFeatureMomentAlpha featureAlpha;
232  vpFeatureMomentCentered featureCentered;
233  vpFeatureMomentBasic featureMomentBasic;
234  vpFeatureMomentArea feature_moment_area;
235 
236 public:
237  vpFeatureMomentCommon(vpMomentDatabase &moments, double A = 0.0, double B = 0.0, double C = 1.0);
238  void updateAll(double A, double B, double C);
242  vpFeatureMomentAlpha &getFeatureAlpha() { return featureAlpha; }
243 
251  vpFeatureMomentBasic &getFeatureMomentBasic() { return featureMomentBasic; }
255  vpFeatureMomentCentered &getFeatureCentered() { return featureCentered; }
256 
260  vpFeatureMomentCInvariant &getFeatureCInvariant() { return featureCInvariant; }
268  vpFeatureMomentArea &getFeatureArea() { return feature_moment_area; }
273 };
274 
275 #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.