Visual Servoing Platform  version 3.6.1 under development (2024-06-15)
vpFeatureMomentCommon.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
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8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
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
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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29  *
30  * Description:
31  * Pre-filled pseudo-database used to handle dependencies between common
32  *moment features.
33  */
34 
41 #ifndef _vpFeatureMomentCommon_h_
42 #define _vpFeatureMomentCommon_h_
43 #include <visp3/core/vpConfig.h>
44 #include <visp3/visual_features/vpFeatureMomentAlpha.h>
45 #include <visp3/visual_features/vpFeatureMomentArea.h>
46 #include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
47 #include <visp3/visual_features/vpFeatureMomentBasic.h>
48 #include <visp3/visual_features/vpFeatureMomentCInvariant.h>
49 #include <visp3/visual_features/vpFeatureMomentCentered.h>
50 #include <visp3/visual_features/vpFeatureMomentCommon.h>
51 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
52 #include <visp3/visual_features/vpFeatureMomentGravityCenter.h>
53 #include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
54 
56 class vpMomentDatabase;
57 class vpServo;
219 {
220 private:
221  vpFeatureMomentGravityCenter featureGravity;
222  vpFeatureMomentGravityCenterNormalized featureGravityNormalized;
224  vpFeatureMomentCInvariant featureCInvariant;
225  vpFeatureMomentAlpha featureAlpha;
226  vpFeatureMomentCentered featureCentered;
227  vpFeatureMomentBasic featureMomentBasic;
228  vpFeatureMomentArea feature_moment_area;
229 
230 public:
231  vpFeatureMomentCommon(vpMomentDatabase &moments, double A = 0.0, double B = 0.0, double C = 1.0);
232  void updateAll(double A, double B, double C);
236  vpFeatureMomentAlpha &getFeatureAlpha() { return featureAlpha; }
237 
245  vpFeatureMomentBasic &getFeatureMomentBasic() { return featureMomentBasic; }
249  vpFeatureMomentCentered &getFeatureCentered() { return featureCentered; }
250 
254  vpFeatureMomentCInvariant &getFeatureCInvariant() { return featureCInvariant; }
255 
260 
264  vpFeatureMomentArea &getFeatureArea() { return feature_moment_area; }
265 
270 };
272 #endif
Functionality computation for in-plane rotation moment feature : computes the interaction matrix asso...
Functionality computation for normalized surface moment feature. Computes the interaction matrix asso...
Surface moment feature. Computes the interaction matrix associated with vpMomentArea.
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
Functionality computation for 2D rotation/translation/scale non-symmetric invariant moment feature....
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
This class allows to access common vpFeatureMoments in a pre-filled database.
vpFeatureMomentCInvariant & getFeatureCInvariant()
vpFeatureMomentGravityCenter & getFeatureGravityCenter()
vpFeatureMomentBasic & getFeatureMomentBasic()
vpFeatureMomentAlpha & getFeatureAlpha()
vpFeatureMomentAreaNormalized & getFeatureAn()
vpFeatureMomentCentered & getFeatureCentered()
vpFeatureMomentArea & getFeatureArea()
vpFeatureMomentGravityCenterNormalized & getFeatureGravityNormalized()
This class allows to register all feature moments (implemented in vpFeatureMoment....
virtual void updateAll(double A=0.0, double B=0.0, double C=1.0)
Functionality computation for centered and normalized moment feature. Computes the interaction matrix...
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
This class allows to register all vpMoments so they can access each other according to their dependen...