Visual Servoing Platform version 3.6.0
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vpMomentArea.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
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.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://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
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
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 * 2D area of the object
33 *
34 * Authors:
35 * Manikandan Bakthavatchalam
36 *
37*****************************************************************************/
38#include <cmath>
39#include <visp3/core/vpMomentArea.h>
40#include <visp3/core/vpMomentCentered.h>
41#include <visp3/core/vpMomentDatabase.h>
42#include <visp3/core/vpMomentObject.h>
43
50{
51 /* getObject() returns a reference to a vpMomentObject. This is public
52 * member of vpMoment */
53 if (getObject().getType() == vpMomentObject::DISCRETE) {
54 bool found_moment_centered;
55 /* getMoments() returns a reference to a vpMomentDatabase. It is a
56 * protected member of and is inherited from vpMoment .get() is a member
57 * function of vpMomentDatabase that returns a specific moment which is
58 * linked to it
59 */
60 const vpMomentCentered &momentCentered =
61 static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
62 if (!found_moment_centered)
63 throw vpException(vpException::notInitialized, "vpMomentCentered not found");
64 values[0] = momentCentered.get(2, 0) + momentCentered.get(0, 2);
65 } else {
66 values[0] = getObject().get(0, 0);
67 }
68}
69
74
78VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentArea &m)
79{
80 os << (__FILE__) << std::endl;
81 os << "a(m00) = " << m.values[0] << std::endl;
82 return os;
83}
84
90void vpMomentArea::printDependencies(std::ostream &os) const
91{
92 os << (__FILE__) << std::endl;
93
94 bool found_moment_centered;
95 const vpMomentCentered &momentCentered =
96 static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
97 if (!found_moment_centered)
98 throw vpException(vpException::notInitialized, "vpMomentCentered not found");
99
100 if (getObject().getType() == vpMomentObject::DISCRETE) {
101 os << "mu20 = " << momentCentered.get(2, 0) << "\t";
102 os << "mu02 = " << momentCentered.get(0, 2) << std::endl;
103 } else {
104 os << "mu00 = " << momentCentered.get(0, 0) << std::endl;
105 }
106}
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition vpException.h:86
Class handling the surface moment.
void printDependencies(std::ostream &os) const
This class defines the double-indexed centered moment descriptor .
double get(unsigned int i, unsigned int j) const
const vpMoment & get(const char *type, bool &found) const
const std::vector< double > & get() const
This class defines shared methods/attributes for 2D moments.
Definition vpMoment.h:106
const vpMomentObject & getObject() const
Definition vpMoment.h:145
std::vector< double > values
Definition vpMoment.h:113
vpMomentDatabase & getMoments() const
Definition vpMoment.h:118