Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
vpMomentAlpha.h
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30  *
31  * Description:
32  * Alpha moment descriptor for in-plane orientation.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
38 
44 #ifndef _vpMomentAlpha_h_
45 #define _vpMomentAlpha_h_
46 
47 #include <visp3/core/vpMoment.h>
48 
108 
139 
207 class VISP_EXPORT vpMomentAlpha : public vpMoment
208 {
209 private:
210  bool m_isRef;
211  bool m_symmetric;
212  std::vector<double> m_mu3Ref;
213  double m_alphaRef;
214  double m_symmetricThreshold;
215 
216 public:
217  vpMomentAlpha();
218  vpMomentAlpha(const std::vector<double> &mu3_ref, double alpha_ref, double threshold = 1e-6);
219  virtual ~vpMomentAlpha(){};
220 
221  void compute();
225  double get() const { return values[0]; }
229  const char *name() const { return "vpMomentAlpha"; }
230 
235  inline bool is_ref() const
236  {
237  if (m_isRef)
238  return true;
239  else
240  return false;
241  }
242 
247  inline bool is_symmetric() const
248  {
249  if (m_symmetric)
250  return true;
251  else
252  return false;
253  }
254 
255  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAlpha &v);
256  void printDependencies(std::ostream &os) const;
257 };
258 
259 #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
virtual ~vpMomentAlpha()
const char * name() const
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:111
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMoment &m)
Definition: vpMoment.cpp:122
virtual void compute()=0
virtual void printDependencies(std::ostream &os) const
Definition: vpMoment.cpp:135