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Visual Servoing Platform
version 3.2.0
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45 #ifndef _vpFeatureMoment_h_
46 #define _vpFeatureMoment_h_
49 #include <visp3/core/vpConfig.h>
50 #include <visp3/core/vpException.h>
51 #include <visp3/visual_features/vpBasicFeature.h>
163 const vpMoment &getMoment()
const {
return *moment; }
166 std::vector<vpMatrix> interaction_matrices;
206 :
vpBasicFeature(), moment(NULL), moments(data_base), featureMomentsDataBase(featureMoments),
207 interaction_matrices(nbmatrices), A(A_), B(B_), C(C_), _name()
215 virtual void compute_interaction(
void);
218 unsigned int thickness = 1)
const;
220 unsigned int thickness = 1)
const;
222 int getDimension(
unsigned int select = FEATURE_ALL)
const;
231 virtual const char *momentName()
const = 0;
235 virtual const char *name()
const = 0;
236 void print(
const unsigned int select = FEATURE_ALL)
const;
237 virtual void printDependencies(std::ostream &os)
const;
239 void update(
double A,
double B,
double C);
242 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpFeatureMoment &featM);
270 this->moment = p_moment;
275 const char *
momentName()
const {
return NULL; }
279 virtual const char *
name()
const {
return NULL; }
This class defines shared methods/attributes for 2D moments.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
Generic class defining intrinsic camera parameters.
This class allows to register all feature moments (implemented in vpFeatureMoment....
unsigned int getDimension(const unsigned int select=FEATURE_ALL) const
Get the feature vector dimension.
virtual vpMatrix interaction(const unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual const char * name() const =0
This class allows to register all vpMoments so they can access each other according to their dependen...
Implementation of a matrix and operations on matrices.
static const vpColor green
This class defines shared system methods/attributes for 2D moment features but no functional code....
Class for generic objects.
This class defines a generic feature used for moment feature duplication.
Class to define colors available for display functionnalities.
virtual vpBasicFeature * duplicate() const =0
virtual const char * momentName() const =0
class that defines what is a visual feature
virtual void print(const unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.