vpMomentGravityCenter.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
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 * For using ViSP with software that can not be combined with the GNU
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 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
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 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * 2D Gravity Center moment descriptor (usually described by the pair Xg,Yg)
 *
 * Authors:
 * Filip Novotny
 *
*****************************************************************************/
 
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/core/vpMomentObject.h>
 
BEGIN_VISP_NAMESPACE
void vpMomentGravityCenter::compute()
{
  values[0] = getObject().get(1, 0) / getObject().get(0, 0);
  values[1] = getObject().get(0, 1) / getObject().get(0, 0);
}
 
vpMomentGravityCenter::vpMomentGravityCenter() : vpMoment() { values.resize(2); }
 
const std::vector<double> &vpMomentGravityCenter::get() const { return values; }
 
void vpMomentGravityCenter::printDependencies(std::ostream &os) const
{
  os << (__FILE__) << std::endl;
  os << "m10 = " << getObject().get(1, 0) << "\t";
  os << "m00 = " << getObject().get(0, 1) << "\t";
  os << "m00 = " << getObject().get(0, 0) << std::endl;
}
 
VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentGravityCenter &m)
{
  os << (__FILE__) << std::endl;
  os << "(Xg,Yg) = (" << m.values[0] << ", " << m.values[1] << ")" << std::endl;
  return os;
}
END_VISP_NAMESPACE