Visual Servoing Platform version 3.5.0
vpFeatureMomentCentered.h
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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26 * Inria at visp@inria.fr
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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 emited by ViSP classes.
Definition: vpException.h:72
@ functionNotImplementedError
Function not implemented.
Definition: vpException.h:90
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...
const char * momentName() const
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:154
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
Definition: vpMomentBasic.h:75
This class allows to register all vpMoments so they can access each other according to their dependen...