Visual Servoing Platform version 3.6.0
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vpMomentAlpha.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Alpha moment descriptor for in-plane orientation.
32 */
33
39#ifndef _vpMomentAlpha_h_
40#define _vpMomentAlpha_h_
41
42#include <visp3/core/vpMoment.h>
43
103
134
202class VISP_EXPORT vpMomentAlpha : public vpMoment
203{
204private:
205 bool m_isRef;
206 bool m_symmetric;
207 std::vector<double> m_mu3Ref;
208 double m_alphaRef;
209 double m_symmetricThreshold;
210
211public:
213 vpMomentAlpha(const std::vector<double> &mu3_ref, double alpha_ref, double threshold = 1e-6);
214 virtual ~vpMomentAlpha(){};
215
216 void compute();
220 double get() const { return values[0]; }
224 const char *name() const { return "vpMomentAlpha"; }
225
230 inline bool is_ref() const
231 {
232 if (m_isRef)
233 return true;
234 else
235 return false;
236 }
237
242 inline bool is_symmetric() const
243 {
244 if (m_symmetric)
245 return true;
246 else
247 return false;
248 }
249
250 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAlpha &v);
251 void printDependencies(std::ostream &os) const;
252};
253
254#endif
This class defines the orientation of the object inside the plane parallel to the object.
bool is_symmetric() const
bool is_ref() const
double get() const
virtual ~vpMomentAlpha()
const char * name() const
This class defines shared methods/attributes for 2D moments.
Definition vpMoment.h:106
virtual void compute()=0
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMoment &m)
Definition vpMoment.cpp:122
virtual void printDependencies(std::ostream &os) const
Definition vpMoment.cpp:135