Visual Servoing Platform  version 3.2.1 under development (2019-11-19)
vpFeatureMomentGravityCenterNormalized.h
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30  *
31  * Description:
32  * Implementation for all supported moment features.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
43 #ifndef _vpFeatureMomentGravityCenterNormalized_h_
44 #define _vpFeatureMomentGravityCenterNormalized_h_
45 
46 #include <visp3/visual_features/vpFeatureMoment.h>
47 
48 #ifdef VISP_MOMENTS_COMBINE_MATRICES
49 class vpMomentDatabase;
93 {
94 public:
107  vpFeatureMomentGravityCenterNormalized(vpMomentDatabase &database, double A_, double B_, double C_,
108  vpFeatureMomentDatabase *featureMoments = NULL)
109  : vpFeatureMoment(database, A_, B_, C_, featureMoments, 2)
110  {
111  }
112  void compute_interaction();
116  const char *momentName() const { return "vpMomentGravityCenterNormalized"; }
120  const char *name() const { return "vpFeatureMomentGravityCenterNormalized"; }
121 
125  static unsigned int selectXn() { return 1 << 0; }
126 
130  static unsigned int selectYn() { return 1 << 1; }
131 };
132 
133 #else
134 class vpMomentDatabase;
244 {
245 public:
258  vpFeatureMomentGravityCenterNormalized(vpMomentDatabase &data_base, double A_, double B_, double C_,
259  vpFeatureMomentDatabase *featureMoments = NULL)
260  : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 2)
261  {
262  }
263  void compute_interaction();
267  const char *momentName() const { return "vpMomentGravityCenterNormalized"; }
271  const char *name() const { return "vpFeatureMomentGravityCenterNormalized"; }
272 
276  static unsigned int selectXn() { return 1 << 0; }
277 
281  static unsigned int selectYn() { return 1 << 1; }
282 };
283 #endif
284 #endif
virtual const char * name() const =0
virtual void compute_interaction(void)
vpFeatureMomentGravityCenterNormalized(vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=NULL)
Functionality computation for centered and normalized moment feature. Computes the interaction matrix...
virtual const char * momentName() const =0
This class allows to register all vpMoments so they can access each other according to their dependen...
This class defines shared system methods/attributes for 2D moment features but no functional code...
This class allows to register all feature moments (implemented in vpFeatureMoment... classes) so they can access each other according to their dependencies.