Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
vpFeatureMomentGravityCenter.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 _vpFeatureMomentGravityCenter_h_
44 #define _vpFeatureMomentGravityCenter_h_
45 
46 #include <visp3/visual_features/vpFeatureMoment.h>
47 
48 #ifdef VISP_MOMENTS_COMBINE_MATRICES
49 class vpMomentDatabase;
91 
151 class VISP_EXPORT vpFeatureMomentGravityCenter : public vpFeatureMoment
152 {
153 public:
165  vpFeatureMomentGravityCenter(vpMomentDatabase &database, double A_, double B_, double C_,
166  vpFeatureMomentDatabase *featureMoments = NULL)
167  : vpFeatureMoment(database, A_, B_, C_, featureMoments, 2)
168  {
169  }
170  void compute_interaction();
174  const char *momentName() const { return "vpMomentGravityCenter"; }
178  const char *name() const { return "vpFeatureMomentGravityCenter"; }
179 
183  static unsigned int selectXg() { return 1 << 0; }
184 
188  static unsigned int selectYg() { return 1 << 1; }
189 };
190 
191 #else
192 class vpMomentDatabase;
223 {
224 public:
236  vpFeatureMomentGravityCenter(vpMomentDatabase &data_base, double A_, double B_, double C_,
237  vpFeatureMomentDatabase *featureMoments = NULL)
238  : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 2)
239  {
240  }
241  void compute_interaction();
245  const char *momentName() const { return "vpMomentGravityCenter"; }
249  const char *name() const { return "vpFeatureMomentGravityCenter"; }
250 
254  static unsigned int selectXg() { return 1 << 0; }
255 
259  static unsigned int selectYg() { return 1 << 1; }
260 };
261 
262 #endif
263 #endif
This class allows to register all feature moments (implemented in vpFeatureMoment....
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
vpFeatureMomentGravityCenter(vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=NULL)
This class defines shared system methods/attributes for 2D moment features but no functional code....
virtual const char * momentName() const =0
virtual const char * 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...