Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpMomentAlpha.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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 
234  inline bool is_ref() const
235  {
236  if (m_isRef)
237  return true;
238  else
239  return false;
240  }
241 
246  inline bool is_symmetric() const
247  {
248  if (m_symmetric)
249  return true;
250  else
251  return false;
252  }
253 
254  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAlpha &v);
255  void printDependencies(std::ostream &os) const;
256 };
257 
258 #endif
const char * name() const
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:110
This class defines the orientation of the object inside the plane parallel to the object...
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMoment &m)
Definition: vpMoment.cpp:122
bool is_ref() const
virtual void printDependencies(std::ostream &os) const
Definition: vpMoment.cpp:135
virtual ~vpMomentAlpha()
virtual void compute()=0
bool is_symmetric() const