Visual Servoing Platform  version 3.6.1 under development (2024-12-07)
vpMomentGravityCenter.cpp
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30  *
31  * Description:
32  * 2D Gravity Center moment descriptor (usually described by the pair Xg,Yg)
33  *
34  * Authors:
35  * Filip Novotny
36  *
37 *****************************************************************************/
38 
39 #include <visp3/core/vpMomentGravityCenter.h>
40 #include <visp3/core/vpMomentObject.h>
41 
42 BEGIN_VISP_NAMESPACE
48 {
49  values[0] = getObject().get(1, 0) / getObject().get(0, 0);
50  values[1] = getObject().get(0, 1) / getObject().get(0, 0);
51 }
52 
57 
62 const std::vector<double> &vpMomentGravityCenter::get() const { return values; }
63 
68 void vpMomentGravityCenter::printDependencies(std::ostream &os) const
69 {
70  os << (__FILE__) << std::endl;
71  os << "m10 = " << getObject().get(1, 0) << "\t";
72  os << "m00 = " << getObject().get(0, 1) << "\t";
73  os << "m00 = " << getObject().get(0, 0) << std::endl;
74 }
75 
79 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentGravityCenter &m)
80 {
81  os << (__FILE__) << std::endl;
82  os << "(Xg,Yg) = (" << m.values[0] << ", " << m.values[1] << ")" << std::endl;
83  return os;
84 }
85 END_VISP_NAMESPACE
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:614
Class describing 2D gravity center moment.
const std::vector< double > & get() const
void printDependencies(std::ostream &os) 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