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vpFeatureMomentCommon.h
1 /****************************************************************************
2  *
3  * $Id: vpFeatureMomentCommon.h 4276 2013-06-25 12:36:48Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Pre-filled pseudo-database used to handle dependencies between common moment features.
36  *
37  * Authors:
38  * Filip Novotny
39  *
40  *****************************************************************************/
41 
47 #ifndef __FEATUREMOMENTCOMMON_H__
48 #define __FEATUREMOMENTCOMMON_H__
49 #include <visp/vpFeatureMomentAlpha.h>
50 #include <visp/vpFeatureMomentGravityCenter.h>
51 #include <visp/vpFeatureMomentBasic.h>
52 #include <visp/vpFeatureMomentGravityCenterNormalized.h>
53 #include <visp/vpFeatureMomentCentered.h>
54 #include <visp/vpFeatureMomentCInvariant.h>
55 #include <visp/vpFeatureMomentCommon.h>
56 #include <visp/vpFeatureMomentAreaNormalized.h>
57 #include <visp/vpFeatureMomentDatabase.h>
58 #include <visp/vpFeatureMomentArea.h>
59 
60 class vpMomentDatabase;
61 class vpServo;
153 
222 private:
223  vpFeatureMomentGravityCenter featureGravity;
224  vpFeatureMomentGravityCenterNormalized featureGravityNormalized;
226  vpFeatureMomentCInvariant featureCInvariant;
227  vpFeatureMomentAlpha featureAlpha;
228  vpFeatureMomentCentered featureCentered;
229  vpFeatureMomentBasic featureMomentBasic;
230  vpFeatureMomentArea feature_moment_area;
231 
232 public:
233  vpFeatureMomentCommon(vpMomentDatabase& moments,double A=0.0,double B=0.0,double C=1.0);
234  void updateAll(double A,double B,double C);
238  vpFeatureMomentAlpha& getFeatureAlpha(){ return featureAlpha;}
239 
247  vpFeatureMomentBasic& getFeatureMomentBasic(){ return featureMomentBasic;}
251  vpFeatureMomentCentered& getFeatureCentered(){ return featureCentered;}
252 
256  vpFeatureMomentCInvariant& getFeatureCInvariant(){ return featureCInvariant;}
264  vpFeatureMomentArea& getFeatureArea(){ return feature_moment_area;}
269 };
270 
271 #endif