Visual Servoing Platform version 3.5.0
vpMomentCentered.cpp
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Centered moment descriptor
33 *
34 * Authors:
35 * Filip Novotny
36 *
37 *****************************************************************************/
38
39#include <cassert>
40#include <exception>
41#include <visp3/core/vpMomentCentered.h>
42#include <visp3/core/vpMomentGravityCenter.h>
43#include <visp3/core/vpMomentObject.h>
44
52void vpMomentCentered::set(unsigned int i, unsigned int j, double value)
53{
55 assert(i + j <= mobj.getOrder());
56 if (i + j > mobj.getOrder())
57 throw vpException(vpException::badValue, "You cannot set that value.");
58 values[j * (mobj.getOrder() + 1) + i] = value;
59}
60
66{
67 bool found_moment_gravity;
68 values.resize((getObject().getOrder() + 1) * (getObject().getOrder() + 1));
69
70 const vpMomentGravityCenter &momentGravity =
71 static_cast<const vpMomentGravityCenter &>(getMoments().get("vpMomentGravityCenter", found_moment_gravity));
72 if (!found_moment_gravity)
73 throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
74
75 unsigned int order = getObject().getOrder() + 1;
76 for (unsigned int j = 0; j < (order); j++) {
77 for (unsigned int i = 0; i < order - j; i++) {
78 unsigned int c = order * j + i;
79 values[c] = 0;
80 for (unsigned int k = 0; k <= i; k++) {
81 double Xg_i_k = pow(-momentGravity.get()[0], (int)(i - k));
82 double comb_i_k = static_cast<double>(vpMath::comb(i, k));
83 for (unsigned int l = 0; l <= j; l++) {
84 values[c] += static_cast<double>(comb_i_k * vpMath::comb(j, l) * Xg_i_k *
85 pow(-momentGravity.get()[1], (int)(j - l)) * getObject().get(k, l));
86 }
87 }
88 }
89 }
90}
91
96
103double vpMomentCentered::get(unsigned int i, unsigned int j) const
104{
105 unsigned int order = getObject().getOrder();
106 assert(i + j <= order);
107 if (i + j > order)
108 throw vpException(vpException::badValue, "The requested value has not "
109 "been computed, you should "
110 "specify a higher order.");
111
112 return values[j * (order + 1) + i];
113}
114
133VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentCentered &m)
134{
135 for (unsigned int i = 0; i < m.values.size(); i++) {
136 if (i % (m.getObject().getOrder() + 1) == 0)
137 os << std::endl;
138
139 if ((i % (m.getObject().getOrder() + 1) + i / (m.getObject().getOrder() + 1)) < m.getObject().getOrder() + 1)
140 os << m.values[i];
141 else
142 os << "x";
143
144 os << "\t";
145 }
146 os << std::endl;
147 m.printWithIndices(os);
148 return os;
149}
150
154void vpMomentCentered::printWithIndices(std::ostream &os) const
155{
156 unsigned int orderp1 = getObject().getOrder() + 1;
157 for (unsigned int k = 0; k < orderp1; k++) {
158 for (unsigned int l = 0; l < orderp1 - k; l++) {
159 os << "mu[" << k << "," << l << "] = " << this->get(k, l) << "\t";
160 }
161 os << std::endl;
162 }
163 os << std::endl;
164}
165
172void vpMomentCentered::printDependencies(std::ostream &os) const
173{
174 os << (__FILE__) << std::endl;
175 /*
176 Retreive the raw moments
177 */
178 const vpMomentObject objt = getObject();
180
181 /*
182 Get xg,yg
183 */
184 bool found_moment_gravity;
185 const vpMomentGravityCenter &momentGravity =
186 static_cast<const vpMomentGravityCenter &>(getMoments().get("vpMomentGravityCenter", found_moment_gravity));
187 if (!found_moment_gravity)
188 throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
189 os << "Xg = " << momentGravity.getXg() << "\t"
190 << "Yg = " << momentGravity.getYg() << std::endl;
191}
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:493
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ badValue
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:97
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
static long double comb(unsigned int n, unsigned int p)
Definition: vpMath.h:232
This class defines the double-indexed centered moment descriptor .
const std::vector< double > & get() const
void printDependencies(std::ostream &os) const
void printWithIndices(std::ostream &os) const
void set(unsigned int i, unsigned int j, double value)
const vpMoment & get(const char *type, bool &found) const
Class describing 2D gravity center moment.
const std::vector< double > & get() const
Class for generic objects.
static void printWithIndices(const vpMomentObject &momobj, std::ostream &os)
unsigned int getOrder() const
const std::vector< double > & get() const
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:111
const vpMomentObject & getObject() const
Definition: vpMoment.h:150
std::vector< double > values
Definition: vpMoment.h:118
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:123