vpFeatureMomentCommon.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Pre-filled pseudo-database used to handle dependencies between common
 *moment features.
 */
 
#ifndef _vpFeatureMomentCommon_h_
#define _vpFeatureMomentCommon_h_
#include <visp3/core/vpConfig.h>
#include <visp3/visual_features/vpFeatureMomentAlpha.h>
#include <visp3/visual_features/vpFeatureMomentArea.h>
#include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
#include <visp3/visual_features/vpFeatureMomentBasic.h>
#include <visp3/visual_features/vpFeatureMomentCInvariant.h>
#include <visp3/visual_features/vpFeatureMomentCentered.h>
#include <visp3/visual_features/vpFeatureMomentCommon.h>
#include <visp3/visual_features/vpFeatureMomentDatabase.h>
#include <visp3/visual_features/vpFeatureMomentGravityCenter.h>
#include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
 
BEGIN_VISP_NAMESPACE
class vpMomentDatabase;
class vpServo;
class VISP_EXPORT vpFeatureMomentCommon : public vpFeatureMomentDatabase
{
private:
  vpFeatureMomentGravityCenter featureGravity;
  vpFeatureMomentGravityCenterNormalized featureGravityNormalized;
  vpFeatureMomentAreaNormalized featureAn;
  vpFeatureMomentCInvariant featureCInvariant;
  vpFeatureMomentAlpha featureAlpha;
  vpFeatureMomentCentered featureCentered;
  vpFeatureMomentBasic featureMomentBasic;
  vpFeatureMomentArea feature_moment_area;
 
public:
  vpFeatureMomentCommon(vpMomentDatabase &moments, double A = 0.0, double B = 0.0, double C = 1.0);
  void updateAll(double A, double B, double C);
  vpFeatureMomentAlpha &getFeatureAlpha() { return featureAlpha; }
 
  vpFeatureMomentAreaNormalized &getFeatureAn() { return featureAn; }
  vpFeatureMomentBasic &getFeatureMomentBasic() { return featureMomentBasic; }
  vpFeatureMomentCentered &getFeatureCentered() { return featureCentered; }
 
  vpFeatureMomentCInvariant &getFeatureCInvariant() { return featureCInvariant; }
 
  vpFeatureMomentGravityCenterNormalized &getFeatureGravityNormalized() { return featureGravityNormalized; }
 
  vpFeatureMomentArea &getFeatureArea() { return feature_moment_area; }
 
  vpFeatureMomentGravityCenter &getFeatureGravityCenter() { return featureGravity; }
};
END_VISP_NAMESPACE
#endif