Visual Servoing Platform version 3.5.0
vpFeatureMomentGravityCenterNormalized.h
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3 * ViSP, open source Visual Servoing Platform software.
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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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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://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
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26 * Inria at visp@inria.fr
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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 _vpFeatureMomentGravityCenterNormalized_h_
44#define _vpFeatureMomentGravityCenterNormalized_h_
45
46#include <visp3/visual_features/vpFeatureMoment.h>
47
48#ifdef VISP_MOMENTS_COMBINE_MATRICES
93{
94public:
107 vpFeatureMomentGravityCenterNormalized(vpMomentDatabase &database, double A_, double B_, double C_,
108 vpFeatureMomentDatabase *featureMoments = NULL)
109 : vpFeatureMoment(database, A_, B_, C_, featureMoments, 2)
110 {
111 }
112 void compute_interaction();
116 const char *momentName() const { return "vpMomentGravityCenterNormalized"; }
120 const char *name() const { return "vpFeatureMomentGravityCenterNormalized"; }
121
125 static unsigned int selectXn() { return 1 << 0; }
126
130 static unsigned int selectYn() { return 1 << 1; }
131};
132
133#else
134class vpMomentDatabase;
244{
245public:
258 vpFeatureMomentGravityCenterNormalized(vpMomentDatabase &data_base, double A_, double B_, double C_,
259 vpFeatureMomentDatabase *featureMoments = NULL)
260 : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 2)
261 {
262 }
263 void compute_interaction();
267 const char *momentName() const { return "vpMomentGravityCenterNormalized"; }
271 const char *name() const { return "vpFeatureMomentGravityCenterNormalized"; }
272
276 static unsigned int selectXn() { return 1 << 0; }
277
281 static unsigned int selectYn() { return 1 << 1; }
282};
283#endif
284#endif
This class allows to register all feature moments (implemented in vpFeatureMoment....
Functionality computation for centered and normalized moment feature. Computes the interaction matrix...
vpFeatureMomentGravityCenterNormalized(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...