Visual Servoing Platform  version 3.6.1 under development (2024-12-12)
vpMomentArea.cpp
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30  *
31  * Description:
32  * 2D area of the object
33  *
34  * Authors:
35  * Manikandan Bakthavatchalam
36  *
37 *****************************************************************************/
38 #include <cmath>
39 #include <visp3/core/vpMomentArea.h>
40 #include <visp3/core/vpMomentCentered.h>
41 #include <visp3/core/vpMomentDatabase.h>
42 #include <visp3/core/vpMomentObject.h>
43 
44 BEGIN_VISP_NAMESPACE
51 {
52  /* getObject() returns a reference to a vpMomentObject. This is public
53  * member of vpMoment */
54  if (getObject().getType() == vpMomentObject::DISCRETE) {
55  bool found_moment_centered;
56  /* getMoments() returns a reference to a vpMomentDatabase. It is a
57  * protected member of and is inherited from vpMoment .get() is a member
58  * function of vpMomentDatabase that returns a specific moment which is
59  * linked to it
60  */
61  const vpMomentCentered &momentCentered =
62  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
63  if (!found_moment_centered)
64  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
65  values[0] = momentCentered.get(2, 0) + momentCentered.get(0, 2);
66  }
67  else {
68  values[0] = getObject().get(0, 0);
69  }
70 }
71 
76 
82 void vpMomentArea::printDependencies(std::ostream &os) const
83 {
84  os << (__FILE__) << std::endl;
85 
86  bool found_moment_centered;
87  const vpMomentCentered &momentCentered =
88  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
89  if (!found_moment_centered)
90  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
91 
92  if (getObject().getType() == vpMomentObject::DISCRETE) {
93  os << "mu20 = " << momentCentered.get(2, 0) << "\t";
94  os << "mu02 = " << momentCentered.get(0, 2) << std::endl;
95  }
96  else {
97  os << "mu00 = " << momentCentered.get(0, 0) << std::endl;
98  }
99 }
100 
104 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentArea &m)
105 {
106  os << (__FILE__) << std::endl;
107  os << "a(m00) = " << m.values[0] << std::endl;
108  return os;
109 }
110 
111 END_VISP_NAMESPACE
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:614
error that can be emitted by ViSP classes.
Definition: vpException.h:60
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition: vpException.h:74
Class handling the surface moment.
Definition: vpMomentArea.h:59
void printDependencies(std::ostream &os) const
This class defines the double-indexed centered moment descriptor .
double get(unsigned int i, unsigned int j) const
const vpMoment & get(const std::string &moment_name, bool &found) const
const std::vector< double > & get() const
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:106
std::vector< double > values
Definition: vpMoment.h:113
const vpMomentObject & getObject() const
Definition: vpMoment.h:145
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:118