Visual Servoing Platform  version 3.6.1 under development (2024-06-15)
vpFeatureMomentGravityCenterNormalized.h
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29  *
30  * Description:
31  * Implementation for all supported moment features.
32  */
33 
39 #ifndef _vpFeatureMomentGravityCenterNormalized_h_
40 #define _vpFeatureMomentGravityCenterNormalized_h_
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/visual_features/vpFeatureMoment.h>
44 
46 #ifdef VISP_MOMENTS_COMBINE_MATRICES
47 class vpMomentDatabase;
90 {
91 public:
102  vpFeatureMomentGravityCenterNormalized(vpMomentDatabase &database, double A_, double B_, double C_,
103  vpFeatureMomentDatabase *featureMoments = nullptr)
104  : vpFeatureMoment(database, A_, B_, C_, featureMoments, 2)
105  { }
106 
107  void compute_interaction() vp_override;
108 
112  const std::string momentName() const vp_override { return "vpMomentGravityCenterNormalized"; }
113 
117  const std::string name() const vp_override { return "vpFeatureMomentGravityCenterNormalized"; }
118 
122  static unsigned int selectXn() { return 1 << 0; }
123 
127  static unsigned int selectYn() { return 1 << 1; }
128 };
129 
130 #else
131 class vpMomentDatabase;
245 {
246 public:
257  vpFeatureMomentGravityCenterNormalized(vpMomentDatabase &data_base, double A_, double B_, double C_,
258  vpFeatureMomentDatabase *featureMoments = nullptr)
259  : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 2)
260  { }
261  void compute_interaction() vp_override;
262 
266  const std::string momentName() const vp_override { return "vpMomentGravityCenterNormalized"; }
267 
271  const std::string name() const vp_override { return "vpFeatureMomentGravityCenterNormalized"; }
272 
276  static unsigned int selectXn() { return 1 << 0; }
277 
281  static unsigned int selectYn() { return 1 << 1; }
282 };
283 #endif
285 #endif
This class allows to register all feature moments (implemented in vpFeatureMoment....
Functionality computation for centered and normalized moment feature. Computes the interaction matrix...
vpFeatureMomentGravityCenterNormalized(vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=nullptr)
This class defines shared system methods/attributes for 2D moment features but no functional code....
virtual const std::string name() const =0
virtual void compute_interaction(void)
This class allows to register all vpMoments so they can access each other according to their dependen...