Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
vpMomentAlpha.cpp
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30  *
31  * Description:
32  * Alpha moment descriptor for in-plane orientation.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
38 
39 #include <cmath>
40 #include <visp3/core/vpMomentAlpha.h>
41 #include <visp3/core/vpMomentCentered.h>
42 #include <visp3/core/vpMomentGravityCenter.h>
43 
51 vpMomentAlpha::vpMomentAlpha() : m_isRef(true), m_symmetric(false), m_mu3Ref(), m_alphaRef(0.), m_symmetricThreshold(1e-6) { values.resize(1); }
52 
64 vpMomentAlpha::vpMomentAlpha(const std::vector<double> &mu3_ref, double alpha_ref, double threshold)
65  : vpMoment(), m_isRef(false), m_symmetric(true), m_mu3Ref(mu3_ref), m_alphaRef(alpha_ref), m_symmetricThreshold(threshold)
66 {
67  for (std::vector<double>::const_iterator it = mu3_ref.begin(); it != mu3_ref.end(); ++it) {
68  if (std::fabs(*it) > m_symmetricThreshold) {
69  m_symmetric = false;
70  break;
71  }
72  }
73 
74  values.resize(1);
75 }
76 
82 {
83  // symmetric = symmetric | this->getObject().isSymmetric();
84  bool found_moment_centered;
85 
86  const vpMomentCentered &momentCentered =
87  (static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered)));
88 
89  if (!found_moment_centered)
90  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
91 
92  double alpha = 0.5 * atan2(2.0 * momentCentered.get(1, 1), (momentCentered.get(2, 0) - momentCentered.get(0, 2)));
93 
94  std::vector<double> rotMu(4);
95 
96  if (m_isRef) {
97  m_alphaRef = alpha;
98  } else {
99  if (! m_symmetric) {
100  double r11 = cos(alpha - m_alphaRef);
101  double r12 = sin(alpha - m_alphaRef);
102  double r21 = -r12;
103  double r22 = r11;
104  unsigned int idx = 0;
105  unsigned int order = 4;
106  for (unsigned int c = 0; c < (order) * (order); c++) {
107  unsigned int i = c % order;
108  unsigned int j = c / order;
109 
110  if (i + j == 3) {
111  double r11_k = 1.;
112  for (unsigned int k = 0; k <= i; k++) {
113  double r12_i_k = pow(r12, (int)(i - k));
114  double comb_i_k = static_cast<double>(vpMath::comb(i, k));
115  for (unsigned int l = 0; l <= j; l++) {
116  rotMu[idx] += static_cast<double>(comb_i_k * vpMath::comb(j, l) * r11_k * pow(r21, (int)l) * r12_i_k *
117  pow(r22, (int)(j - l)) *
118  momentCentered.get(k + l, (unsigned int)(int)(i + j - k - l)));
119  }
120  r11_k *= r11;
121  }
122  idx++;
123  }
124  }
125 
126  double sum = 0.;
127  bool signChange = false;
128  for (unsigned int i = 0; i < 4; i++) {
129  if (std::fabs(rotMu[i]) > m_symmetricThreshold &&
130  std::fabs(m_mu3Ref[i]) > m_symmetricThreshold && rotMu[i] * m_mu3Ref[i] < 0) {
131  signChange = true;
132  }
133  sum += std::fabs(rotMu[i] * m_mu3Ref[i]);
134  }
135 
136  if (sum < std::numeric_limits<double>::epsilon()) { // FS: Is this test useful ?
137  signChange = false;
138  }
139 
140  if (signChange) {
141  if (alpha < 0) {
142  alpha += M_PI;
143  }
144  else {
145  alpha -= M_PI;
146  }
147  }
148  }
149  }
150  values[0] = alpha;
151 }
152 
156 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAlpha &c)
157 {
158  os << (__FILE__) << std::endl;
159  os << "Alpha = " << c.values[0] << "rad = " << vpMath::deg(c.values[0]) << "deg " << std::endl;
160  return os;
161 }
162 
166 void vpMomentAlpha::printDependencies(std::ostream &os) const
167 {
168  os << (__FILE__) << std::endl;
169  bool found_moment_centered;
170  const vpMomentCentered &momentCentered =
171  (static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered)));
172  if (!found_moment_centered)
173  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
174 
175  os << "mu11 = " << momentCentered.get(1, 1) << "\t";
176  os << "mu20 = " << momentCentered.get(2, 0) << "\t";
177  os << "mu02 = " << momentCentered.get(0, 2) << std::endl;
178 }
double get(unsigned int i, unsigned int j) const
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMomentAlpha &v)
const vpMoment & get(const char *type, bool &found) const
void printDependencies(std::ostream &os) const
error that can be emited by ViSP classes.
Definition: vpException.h:71
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:110
This class defines the double-indexed centered moment descriptor .
This class defines the orientation of the object inside the plane parallel to the object...
static long double comb(unsigned int n, unsigned int p)
Definition: vpMath.h:230
static double deg(double rad)
Definition: vpMath.h:103
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:123
std::vector< double > values
Definition: vpMoment.h:118