37 #include <visp3/core/vpConfig.h> 43 #include <visp3/visual_features/vpFeatureMomentArea.h> 44 #include <visp3/core/vpMomentObject.h> 45 #include <visp3/core/vpMomentGravityCenter.h> 46 #include <visp3/core/vpMomentArea.h> 47 #include <visp3/visual_features/vpFeatureMomentDatabase.h> 86 double Xg = momentGravity.
getXg();
87 double Yg = momentGravity.
getYg();
89 double a = areamoment.
get()[0];
91 assert(std::fabs(a-mobj.
get(0,0)) < a*std::numeric_limits<double>::epsilon());
94 interaction_matrices[0][0][1] = -a*
B;
95 interaction_matrices[0][0][2] = (3*a)*(A*Xg+B*Yg)+(2*
C*a);
96 interaction_matrices[0][0][3] = 3*a*Yg;
97 interaction_matrices[0][0][4] = -3*a*Xg;
98 interaction_matrices[0][0][5] = 0.;
const vpMoment & get(const char *type, bool &found) const
error that can be emited by ViSP classes.
Class for generic objects.
std::vector< vpMatrix > interaction_matrices
const std::vector< double > & get() const
Class handling the surface moment.
const vpMomentObject & getObject() const
vpMomentDatabase & moments
const std::vector< double > & get() const
vpObjectType getType() const
Class describing 2D gravity center moment.
void compute_interaction()