Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpMomentAlpha.h
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2  * ViSP, open source Visual Servoing Platform software.
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5  * This software is free software; you can redistribute it and/or modify
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10  * distribution for additional information about the GNU GPL.
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19  * Inria Rennes - Bretagne Atlantique
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29  *
30  * Description:
31  * Alpha moment descriptor for in-plane orientation.
32  */
33 
39 #ifndef _vpMomentAlpha_h_
40 #define _vpMomentAlpha_h_
41 
42 #include <visp3/core/vpMoment.h>
43 
202 class VISP_EXPORT vpMomentAlpha : public vpMoment
203 {
204 private:
205  bool m_isRef;
206  bool m_symmetric;
207  std::vector<double> m_mu3Ref;
208  double m_alphaRef;
209  double m_symmetricThreshold;
210 
211 public:
212  vpMomentAlpha();
213  vpMomentAlpha(const std::vector<double> &mu3_ref, double alpha_ref, double threshold = 1e-6);
214 
215  void compute();
219  double get() const { return values[0]; }
223  const std::string name() const { return "vpMomentAlpha"; }
224 
229  inline bool is_ref() const
230  {
231  if (m_isRef)
232  return true;
233  else
234  return false;
235  }
236 
241  inline bool is_symmetric() const
242  {
243  if (m_symmetric)
244  return true;
245  else
246  return false;
247  }
248 
249  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAlpha &v);
250  void printDependencies(std::ostream &os) const;
251 };
252 
253 #endif
This class defines the orientation of the object inside the plane parallel to the object.
bool is_symmetric() const
bool is_ref() const
double get() const
const std::string name() const
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:105
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMoment &m)
Definition: vpMoment.cpp:115
virtual void compute()=0
virtual void printDependencies(std::ostream &os) const
Definition: vpMoment.cpp:128