Visual Servoing Platform version 3.6.0
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vpFeatureMomentGravityCenter.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 *
37*****************************************************************************/
43#ifndef _vpFeatureMomentGravityCenter_h_
44#define _vpFeatureMomentGravityCenter_h_
45
46#include <visp3/visual_features/vpFeatureMoment.h>
47
48#ifdef VISP_MOMENTS_COMBINE_MATRICES
91
151class VISP_EXPORT vpFeatureMomentGravityCenter : public vpFeatureMoment
152{
153public:
164 vpFeatureMomentGravityCenter(vpMomentDatabase &database, double A_, double B_, double C_,
165 vpFeatureMomentDatabase *featureMoments = NULL)
166 : vpFeatureMoment(database, A_, B_, C_, featureMoments, 2)
167 {
168 }
169 void compute_interaction();
173 const char *momentName() const { return "vpMomentGravityCenter"; }
177 const char *name() const { return "vpFeatureMomentGravityCenter"; }
178
182 static unsigned int selectXg() { return 1 << 0; }
183
187 static unsigned int selectYg() { return 1 << 1; }
188};
189
190#else
191class vpMomentDatabase;
222{
223public:
234 vpFeatureMomentGravityCenter(vpMomentDatabase &data_base, double A_, double B_, double C_,
235 vpFeatureMomentDatabase *featureMoments = NULL)
236 : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 2)
237 {
238 }
239 void compute_interaction();
243 const char *momentName() const { return "vpMomentGravityCenter"; }
247 const char *name() const { return "vpFeatureMomentGravityCenter"; }
248
252 static unsigned int selectXg() { return 1 << 0; }
253
257 static unsigned int selectYg() { return 1 << 1; }
258};
259
260#endif
261#endif
This class allows to register all feature moments (implemented in vpFeatureMoment....
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
vpFeatureMomentGravityCenter(vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=NULL)
This class defines shared system methods/attributes for 2D moment features but no functional code....
virtual const char * momentName() const =0
virtual const char * name() const =0
virtual void compute_interaction(void)
This class allows to register all vpMoments so they can access each other according to their dependen...