Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
vpMomentCInvariant.h
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30  *
31  * Description:
32  * Descriptor for various invariants used to drive space roations around X and
33  *Y axis.
34  *
35  * Authors:
36  * Filip Novotny
37  *
38  *****************************************************************************/
44 #ifndef _vpMomentCInvariant_h_
45 #define _vpMomentCInvariant_h_
46 
47 #include <visp3/core/vpMoment.h>
48 #include <visp3/core/vpMomentDatabase.h>
49 
50 class vpMomentCentered;
51 class vpMomentBasic;
52 
127 class VISP_EXPORT vpMomentCInvariant : public vpMoment
128 {
129 private:
130  std::vector<double> I;
131  std::vector<double> II;
132  std::vector<double> c;
133  std::vector<double> s;
134  double K;
135  void computeI(const vpMomentCentered &momentCentered, std::vector<double> &I);
136 
137  /* To calculate Sx and Sy from normalized moments */
138  void calcSxSy(double &sx, double &sy) const;
139  void calcSxSyNormalized(double &sx, double &sy) const;
140  std::vector<double> cn; // same as s above but calculated from normalized moments
141  std::vector<double> sn; // same as c above but calculated from normalized moments
142  double In1; // same as I1 in Sx,Sy formulae but calculated from normalized
143  // moments
144  bool flg_sxsynormalization_;
145 
146 public:
147  explicit vpMomentCInvariant(bool flg_sxsynormalization = false);
148  virtual ~vpMomentCInvariant(){};
149 
153  double C1() const { return values[0]; }
157  double C2() const { return values[1]; }
161  double C3() const { return values[2]; }
165  double C4() const { return values[3]; }
169  double C5() const { return values[4]; }
173  double C6() const { return values[5]; }
177  double C7() const { return values[6]; }
181  double C8() const { return values[7]; }
185  double C9() const { return values[8]; }
189  double C10() const { return values[9]; }
190 
191  void compute();
192 
199  double get(unsigned int i) const { return values[i]; }
200 
204  double getC(unsigned int i) const { return c[i]; }
208  double getI(unsigned int index) const { return I[index]; }
209 
213  void printInvariants(std::ostream &os) const;
214 
218  double getII(unsigned int i) const { return II[i]; }
222  double getK() const { return K; }
223 
227  double getS(unsigned int i) const { return s[i]; }
228 
232  const char *name() const { return "vpMomentCInvariant"; }
233 
237  void printI(unsigned int index);
238 
242  double Px() { return values[12]; }
246  double Py() { return values[13]; }
247 
251  double Sx() const { return values[10]; }
255  double Sy() const { return values[11]; }
256 
261  double getIn1() const { return In1; }
262 
267  double getCN(unsigned int i) const { return cn[i]; }
268 
273  double getSN(unsigned int i) const { return sn[i]; }
274 
278  bool isSxSyfromNormalizedMoments() const { return flg_sxsynormalization_; };
279 
283  inline const std::vector<double> &getMomentVector() const { return values; }
284 
285  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentCInvariant &v);
286 };
287 #endif
double getI(unsigned int index) const
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
Definition: vpMomentBasic.h:74
double getSN(unsigned int i) const
double getCN(unsigned int i) const
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:110
double getII(unsigned int i) const
const char * name() const
This class defines the double-indexed centered moment descriptor .
double getC(unsigned int i) const
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMoment &m)
Definition: vpMoment.cpp:122
bool isSxSyfromNormalizedMoments() const
const std::vector< double > & getMomentVector() const
std::vector< double > values
Definition: vpMoment.h:118
virtual void compute()=0
double getS(unsigned int i) const