Visual Servoing Platform version 3.6.0
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vpMomentAlpha.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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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.
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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
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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 * Alpha moment descriptor for in-plane orientation.
33 *
34 * Authors:
35 * Filip Novotny
36 *
37*****************************************************************************/
38
39#include <cmath>
40#include <visp3/core/vpMomentAlpha.h>
41#include <visp3/core/vpMomentCentered.h>
42#include <visp3/core/vpMomentGravityCenter.h>
43
52 : m_isRef(true), m_symmetric(false), m_mu3Ref(), m_alphaRef(0.), m_symmetricThreshold(1e-6)
53{
54 values.resize(1);
55}
56
68vpMomentAlpha::vpMomentAlpha(const std::vector<double> &mu3_ref, double alpha_ref, double threshold)
69 : vpMoment(), m_isRef(false), m_symmetric(true), m_mu3Ref(mu3_ref), m_alphaRef(alpha_ref),
70 m_symmetricThreshold(threshold)
71{
72 for (std::vector<double>::const_iterator it = mu3_ref.begin(); it != mu3_ref.end(); ++it) {
73 if (std::fabs(*it) > m_symmetricThreshold) {
74 m_symmetric = false;
75 break;
76 }
77 }
78
79 values.resize(1);
80}
81
87{
88 // symmetric = symmetric | this->getObject().isSymmetric();
89 bool found_moment_centered;
90
91 const vpMomentCentered &momentCentered =
92 (static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered)));
93
94 if (!found_moment_centered)
95 throw vpException(vpException::notInitialized, "vpMomentCentered not found");
96
97 double alpha = 0.5 * atan2(2.0 * momentCentered.get(1, 1), (momentCentered.get(2, 0) - momentCentered.get(0, 2)));
98
99 std::vector<double> rotMu(4);
100
101 if (m_isRef) {
102 m_alphaRef = alpha;
103 } else {
104 if (!m_symmetric) {
105 double r11 = cos(alpha - m_alphaRef);
106 double r12 = sin(alpha - m_alphaRef);
107 double r21 = -r12;
108 double r22 = r11;
109 unsigned int idx = 0;
110 unsigned int order = 4;
111 for (unsigned int c = 0; c < (order) * (order); c++) {
112 unsigned int i = c % order;
113 unsigned int j = c / order;
114
115 if (i + j == 3) {
116 double r11_k = 1.;
117 for (unsigned int k = 0; k <= i; k++) {
118 double r12_i_k = pow(r12, (int)(i - k));
119 double comb_i_k = static_cast<double>(vpMath::comb(i, k));
120 for (unsigned int l = 0; l <= j; l++) {
121 rotMu[idx] += static_cast<double>(comb_i_k * vpMath::comb(j, l) * r11_k * pow(r21, (int)l) * r12_i_k *
122 pow(r22, (int)(j - l)) *
123 momentCentered.get(k + l, (unsigned int)(int)(i + j - k - l)));
124 }
125 r11_k *= r11;
126 }
127 idx++;
128 }
129 }
130
131 double sum = 0.;
132 bool signChange = false;
133 for (unsigned int i = 0; i < 4; i++) {
134 if (std::fabs(rotMu[i]) > m_symmetricThreshold && std::fabs(m_mu3Ref[i]) > m_symmetricThreshold &&
135 rotMu[i] * m_mu3Ref[i] < 0) {
136 signChange = true;
137 }
138 sum += std::fabs(rotMu[i] * m_mu3Ref[i]);
139 }
140
141 if (sum < std::numeric_limits<double>::epsilon()) { // FS: Is this test useful ?
142 signChange = false;
143 }
144
145 if (signChange) {
146 if (alpha < 0) {
147 alpha += M_PI;
148 } else {
149 alpha -= M_PI;
150 }
151 }
152 }
153 }
154 values[0] = alpha;
155}
156
160VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAlpha &c)
161{
162 os << (__FILE__) << std::endl;
163 os << "Alpha = " << c.values[0] << "rad = " << vpMath::deg(c.values[0]) << "deg " << std::endl;
164 return os;
165}
166
170void vpMomentAlpha::printDependencies(std::ostream &os) const
171{
172 os << (__FILE__) << std::endl;
173 bool found_moment_centered;
174 const vpMomentCentered &momentCentered =
175 (static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered)));
176 if (!found_moment_centered)
177 throw vpException(vpException::notInitialized, "vpMomentCentered not found");
178
179 os << "mu11 = " << momentCentered.get(1, 1) << "\t";
180 os << "mu20 = " << momentCentered.get(2, 0) << "\t";
181 os << "mu02 = " << momentCentered.get(0, 2) << std::endl;
182}
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition vpException.h:86
static long double comb(unsigned int n, unsigned int p)
Definition vpMath.h:309
static double deg(double rad)
Definition vpMath.h:106
This class defines the orientation of the object inside the plane parallel to the object.
void printDependencies(std::ostream &os) const
This class defines the double-indexed centered moment descriptor .
double get(unsigned int i, unsigned int j) const
const vpMoment & get(const char *type, bool &found) const
This class defines shared methods/attributes for 2D moments.
Definition vpMoment.h:106
std::vector< double > values
Definition vpMoment.h:113
vpMomentDatabase & getMoments() const
Definition vpMoment.h:118