Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
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 
50 {
51  /* getObject() returns a reference to a vpMomentObject. This is public
52  * member of vpMoment */
53  if (getObject().getType() == vpMomentObject::DISCRETE) {
54  bool found_moment_centered;
55  /* getMoments() returns a reference to a vpMomentDatabase. It is a
56  * protected member of and is inherited from vpMoment .get() is a member
57  * function of vpMomentDatabase that returns a specific moment which is
58  * linked to it
59  */
60  const vpMomentCentered &momentCentered =
61  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
62  if (!found_moment_centered)
63  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
64  values[0] = momentCentered.get(2, 0) + momentCentered.get(0, 2);
65  } else {
66  values[0] = getObject().get(0, 0);
67  }
68 }
69 
74 
78 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentArea &m)
79 {
80  os << (__FILE__) << std::endl;
81  os << "a(m00) = " << m.values[0] << std::endl;
82  return os;
83 }
84 
90 void vpMomentArea::printDependencies(std::ostream &os) const
91 {
92  os << (__FILE__) << std::endl;
93 
94  bool found_moment_centered;
95  const vpMomentCentered &momentCentered =
96  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
97  if (!found_moment_centered)
98  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
99 
100  if (getObject().getType() == vpMomentObject::DISCRETE) {
101  os << "mu20 = " << momentCentered.get(2, 0) << "\t";
102  os << "mu02 = " << momentCentered.get(0, 2) << std::endl;
103  } else {
104  os << "mu00 = " << momentCentered.get(0, 0) << std::endl;
105  }
106 }
double get(unsigned int i, unsigned int j) const
const vpMoment & get(const char *type, bool &found) const
error that can be emited by ViSP classes.
Definition: vpException.h:71
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMomentArea &m)
Class handling the surface moment.
Definition: vpMomentArea.h:62
const vpMomentObject & getObject() const
Definition: vpMoment.h:150
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:110
const std::vector< double > & get() const
This class defines the double-indexed centered moment descriptor .
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
void printDependencies(std::ostream &os) const
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:123
std::vector< double > values
Definition: vpMoment.h:118