Visual Servoing Platform  version 3.4.1 under development (2021-10-20)
vpMomentCommon.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  * Pre-filled moment database with all commonly used moments.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
42 #ifndef VPCOMMONMOMENTS_H
43 #define VPCOMMONMOMENTS_H
44 
45 #include <visp3/core/vpMomentAlpha.h>
46 #include <visp3/core/vpMomentArea.h>
47 #include <visp3/core/vpMomentAreaNormalized.h>
48 #include <visp3/core/vpMomentBasic.h>
49 #include <visp3/core/vpMomentCInvariant.h>
50 #include <visp3/core/vpMomentCentered.h>
51 #include <visp3/core/vpMomentDatabase.h>
52 #include <visp3/core/vpMomentGravityCenter.h>
53 #include <visp3/core/vpMomentGravityCenterNormalized.h>
54 
55 #include <vector>
56 
57 class vpMomentObject;
58 
104 class VISP_EXPORT vpMomentCommon : public vpMomentDatabase
105 {
106 private:
107  vpMomentBasic momentBasic;
108  vpMomentGravityCenter momentGravity;
109  vpMomentCentered momentCentered;
110  vpMomentGravityCenterNormalized momentGravityNormalized;
111  vpMomentAreaNormalized momentSurfaceNormalized;
112  vpMomentCInvariant *momentCInvariant;
113  vpMomentAlpha momentAlpha;
114  vpMomentArea momentArea;
115 
116  // private:
117  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
118  // vpMomentCommon(const vpMomentCommon &)
119  // : vpMomentDatabase(), momentBasic(), momentGravity(),
120  // momentCentered(), momentGravityNormalized(),
121  // momentSurfaceNormalized(0, 0), momentCInvariant(), momentAlpha(),
122  // momentArea()
123  // {
124  // throw vpException(vpException::functionNotImplementedError, "Not
125  // implemented!");
126  // }
127  // vpMomentCommon &operator=(const vpMomentCommon &){
128  // throw vpException(vpException::functionNotImplementedError, "Not
129  // implemented!"); return *this;
130  // }
131  //#endif
132 
133 public:
134  vpMomentCommon(double dstSurface, const std::vector<double> &ref, double refAlpha, double dstZ = 1.0,
135  bool flg_sxsyfromnormalized = false);
136  virtual ~vpMomentCommon();
137 
138  static double getAlpha(vpMomentObject &object);
139  static std::vector<double> getMu3(vpMomentObject &object);
140  static double getSurface(vpMomentObject &object);
141 
142  void updateAll(vpMomentObject &object);
143 };
144 #endif // VPCOMMONMOMENTS_H
Class handling the normalized surface moment that is invariant in scale and used to estimate depth...
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
Definition: vpMomentBasic.h:74
Class describing 2D normalized gravity center moment.
Class for generic objects.
Class handling the surface moment.
Definition: vpMomentArea.h:62
This class allows to register all vpMoments so they can access each other according to their dependen...
virtual void updateAll(vpMomentObject &object)
This class defines the double-indexed centered moment descriptor .
This class defines the orientation of the object inside the plane parallel to the object...
Class describing 2D gravity center moment.
This class initializes and allows access to commonly used moments.