Visual Servoing Platform version 3.6.0
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vpFeatureMomentCentered.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 * Implementation for all supported moment features.
33 *
34 * Authors:
35 * Filip Novotny
36 * Manikandan Bakthavatchalam
37 *****************************************************************************/
43#ifndef _vpFeatureMomentCentered_h_
44#define _vpFeatureMomentCentered_h_
45
46#include <visp3/visual_features/vpFeatureMoment.h>
47#include <visp3/visual_features/vpFeatureMomentBasic.h>
48
78class VISP_EXPORT vpFeatureMomentCentered : public vpFeatureMoment
79{
80
81protected:
82 unsigned int order;
86 vpMatrix compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg, const double &yg,
87 const vpMatrix &L_xg, const vpMatrix &L_yg, const vpMomentBasic &m,
88 const vpFeatureMomentBasic &feature_moment_m) const;
89
90public:
91 vpFeatureMomentCentered(vpMomentDatabase &moments, double A, double B, double C,
92 vpFeatureMomentDatabase *featureMoments = NULL);
94
95#ifndef DOXYGEN_SHOULD_SKIP_THIS
96 /* Add function due to pure virtual definition in vpBasicFeature.h */
97 vpMatrix interaction(unsigned int /* select = FEATURE_ALL */)
98 {
100 }
101#endif
108 vpMatrix interaction(unsigned int select_one, unsigned int select_two) const;
109
113 const char *momentName() const { return "vpMomentCentered"; }
117 const char *name() const { return "vpFeatureMomentCentered"; }
118
119 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMomentCentered &v);
120};
121
122#endif
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ functionNotImplementedError
Function not implemented.
Definition vpException.h:78
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
This class allows to register all feature moments (implemented in vpFeatureMoment....
This class defines shared system methods/attributes for 2D moment features but no functional code....
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpFeatureMoment &featM)
vpMatrix interaction(unsigned int select=FEATURE_ALL)
virtual void compute_interaction(void)
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
This class allows to register all vpMoments so they can access each other according to their dependen...