vpMomentGravityCenterNormalized Class Reference

#include <vpMomentGravityCenterNormalized.h>

Inheritance diagram for vpMomentGravityCenterNormalized:

Public Member Functions
	vpMomentGravityCenterNormalized ()
virtual	~vpMomentGravityCenterNormalized ()
void	compute ()
const char *	name () const
void	printDependencies (std::ostream &os) const
Inherited functionalities from vpMomentGravityCenter
const std::vector< double > &	get () const
double	getXg () const
double	getYg () 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 vpMomentGravityCenterNormalized &v)

Detailed Description

Class describing 2D normalized gravity center moment.

Centered and normalized gravity center moment is defined as follows: where and .

vpMomentGravityCenterNormalized depends on vpMomentAreaNormalized to get access to and on vpMomentGravityCenter to get access to .

Examples

mbot-apriltag-ibvs.cpp, and servoBebop2.cpp.

Definition at line 64 of file vpMomentGravityCenterNormalized.h.

Constructor & Destructor Documentation

vpMomentGravityCenterNormalized()

vpMomentGravityCenterNormalized::vpMomentGravityCenterNormalized

(

)

Default constructor.

Definition at line 73 of file vpMomentGravityCenterNormalized.cpp.

~vpMomentGravityCenterNormalized()

virtual vpMomentGravityCenterNormalized::~vpMomentGravityCenterNormalized ( )

inlinevirtual

Definition at line 68 of file vpMomentGravityCenterNormalized.h.

Member Function Documentation

compute()

void vpMomentGravityCenterNormalized::compute ( )

virtual

Computes normalized gravity center moment. Depends on vpMomentAreaNormalized and on vpMomentGravityCenter.

Reimplemented from vpMomentGravityCenter.

Examples

mbot-apriltag-ibvs.cpp, and servoBebop2.cpp.

Definition at line 48 of file vpMomentGravityCenterNormalized.cpp.

get()

const std::vector< double > & vpMomentGravityCenter::get ( ) const

inherited

Returns a vector of the two gravity center coordinates.

Returns

Coordinates in the following moment: .

Definition at line 59 of file vpMomentGravityCenter.cpp.

getMoments()

vpMomentDatabase& vpMoment::getMoments ( ) const

inlineprotectedinherited

Returns the linked moment database.

Returns

the moment database

Definition at line 122 of file vpMoment.h.

getObject()

const vpMomentObject& vpMoment::getObject ( ) const

inlineinherited

Definition at line 149 of file vpMoment.h.

getXg()

double vpMomentGravityCenter::getXg ( ) const

inlineinherited

Shortcut function to retrieve .

Returns

The first gravity center coordinate.

Definition at line 126 of file vpMomentGravityCenter.h.

getYg()

double vpMomentGravityCenter::getYg ( ) const

inlineinherited

Shortcut function to retrieve .

Returns

The second gravity center coordinate.

Definition at line 131 of file vpMomentGravityCenter.h.

linkTo()

void vpMoment::linkTo ( vpMomentDatabase &  data_base )

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.

Attention

Two moments of the same class cannot be stored in the same database

#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpPoint.h>
 
int main()
{
  vpPoint p;
  std::vector<vpPoint> vec_p;
 
  p.set_x(1); p.set_y(1); // coordinates in meters in the image plane (vertex 1)
  vec_p.push_back(p); p.set_x(2); p.set_y(2); // coordinates in meters in the image plane (vertex 2)
 
  vpMomentObject obj(2);
  obj.setType(vpMomentObject::DISCRETE); // Discrete mode.
  obj.fromVector(vec_p); // Init the dense object with the polygon
 
  vpMomentDatabase db;
  vpMomentGravityCenter G; // declaration of gravity center
  vpMomentCentered mc; // mc contains centered moments
 
  G.linkTo(db); //add gravity center to database
  mc.linkTo(db); //centered moments depend on gravity, add them to the
                 //database to grant access
 
  G.update(obj); // specify the object for gravity center
  mc.update(obj); // and for centered moments
 
  G.compute(); // compute the moment
  mc.compute(); //compute centered moments AFTER gravity center
 
  return 0;
}

Parameters

data_base

: database of moment primitives.

Examples

mbot-apriltag-ibvs.cpp, servoBebop2.cpp, and testMomentAlpha.cpp.

Definition at line 97 of file vpMoment.cpp.

name()

const char* vpMomentGravityCenterNormalized::name ( ) const

inlinevirtual

Moment name.

Reimplemented from vpMomentGravityCenter.

Definition at line 71 of file vpMomentGravityCenterNormalized.h.

printDependencies()

void vpMomentGravityCenterNormalized::printDependencies ( std::ostream &  os ) const

virtual

Prints the dependent moments,

1. centre of gravity
2. normalized area moment

Reimplemented from vpMomentGravityCenter.

Definition at line 90 of file vpMomentGravityCenterNormalized.cpp.

update()

void vpMoment::update ( vpMomentObject &  moment_object )

inherited

Updates the moment with the current object. This does not compute any values.

Parameters

moment_object

: object descriptor of the current camera vision.

Definition at line 114 of file vpMoment.cpp.

Friends And Related Function Documentation

operator<<

VISP_EXPORT std::ostream& operator<< ( std::ostream &  os, const vpMomentGravityCenterNormalized &  v  )

friend

Outputs the moment's values to a stream.

Definition at line 78 of file vpMomentGravityCenterNormalized.cpp.

Member Data Documentation

values

std::vector<double> vpMoment::values

protectedinherited

Definition at line 117 of file vpMoment.h.