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Visual Servoing Platform
version 3.2.0
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#include <vpMomentBasic.h>
Public Member Functions | |
vpMomentBasic () | |
virtual | ~vpMomentBasic () |
void | compute () |
const std::vector< double > & | get () const |
double | get (unsigned int i, unsigned int j) const |
const char * | name () const |
void | printDependencies (std::ostream &os) const |
Inherited functionalities from vpMoment | |
const vpMomentObject & | getObject () const |
void | linkTo (vpMomentDatabase &moments) |
void | update (vpMomentObject &object) |
Protected Member Functions | |
vpMomentDatabase & | getMoments () const |
Protected Attributes | |
std::vector< double > | values |
Friends | |
VISP_EXPORT std::ostream & | operator<< (std::ostream &os, const vpMomentBasic &v) |
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to use it as a moment. This enables all common operations such as adding to a vpMomentDatabase.
In the case of a dense object O, 2D basic moments are defined by:
In the case of a discrete set of n points, the basic moments are defined by
The selection of a dense or discrete object is done in vpMomentObject. The maximum order of vpMomentBasic is the same as that of vpMomentObject (ie: vpMomentObject::getOrder).
Note that in the continuous case, the basic moment corresponds to the surface
of the object. In the discrete case, it is the number of discrete points
.
Definition at line 73 of file vpMomentBasic.h.
vpMomentBasic::vpMomentBasic | ( | ) |
Default constructor.
Definition at line 43 of file vpMomentBasic.cpp.
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inlinevirtual |
Definition at line 77 of file vpMomentBasic.h.
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virtual |
Dummy function. Everything is already done in object.
Implements vpMoment.
Definition at line 66 of file vpMomentBasic.cpp.
const std::vector< double > & vpMomentBasic::get | ( | ) | const |
Retrieve all moments of all orders computed. vpMomentBasic::get()[j*order+i] refers to moment .
Same behaviour as vpMomentObject.
Definition at line 51 of file vpMomentBasic.cpp.
double vpMomentBasic::get | ( | unsigned int | i, |
unsigned int | j | ||
) | const |
Gets the desired moment using indexes.
i | : first index of the 2D moment. |
j | : second index of the 2D moment. |
Same behaviour as vpMomentObject.
Definition at line 61 of file vpMomentBasic.cpp.
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inlineprotectedinherited |
Returns the linked moment database.
Definition at line 122 of file vpMoment.h.
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inlineinherited |
Definition at line 149 of file vpMoment.h.
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inherited |
Links the moment to a database of moment primitives. If the moment depends on other moments, these moments must be linked to the same database.
data_base | : database of moment primitives. |
Definition at line 97 of file vpMoment.cpp.
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inlinevirtual |
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virtual |
No dependencies on other vpMoments, since basic moments are computed in vpMomentObject Just prints the basic moments in vpMomentObject with indices
Reimplemented from vpMoment.
Definition at line 83 of file vpMomentBasic.cpp.
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inherited |
Updates the moment with the current object. This does not compute any values.
moment_object | : object descriptor of the current camera vision. |
Definition at line 114 of file vpMoment.cpp.
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friend |
Outputs the moment's values to a stream. Same output as in vpMomentObject.
Definition at line 72 of file vpMomentBasic.cpp.
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protectedinherited |
Definition at line 117 of file vpMoment.h.