Visual Servoing Platform version 3.5.0
vpMomentGravityCenter.cpp
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30 *
31 * Description:
32 * 2D Gravity Center moment descriptor (usually described by the pair Xg,Yg)
33 *
34 * Authors:
35 * Filip Novotny
36 *
37 *****************************************************************************/
38
39#include <visp3/core/vpMomentGravityCenter.h>
40#include <visp3/core/vpMomentObject.h>
46{
47 values[0] = getObject().get(1, 0) / getObject().get(0, 0);
48 values[1] = getObject().get(0, 1) / getObject().get(0, 0);
49}
50
55
60const std::vector<double> &vpMomentGravityCenter::get() const { return values; }
61
65VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentGravityCenter &m)
66{
67 os << (__FILE__) << std::endl;
68 os << "(Xg,Yg) = (" << m.values[0] << ", " << m.values[1] << ")" << std::endl;
69 return os;
70}
71
76void vpMomentGravityCenter::printDependencies(std::ostream &os) const
77{
78 os << (__FILE__) << std::endl;
79 os << "m10 = " << getObject().get(1, 0) << "\t";
80 os << "m00 = " << getObject().get(0, 1) << "\t";
81 os << "m00 = " << getObject().get(0, 0) << std::endl;
82}
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:493
Class describing 2D gravity center moment.
const std::vector< double > & get() const
void printDependencies(std::ostream &os) 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