vpFeatureMomentCommon.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Pre-filled pseudo-database used to handle dependencies between common
 *moment features.
 *
 * Authors:
 * Filip Novotny
 *
*****************************************************************************/

 
#ifndef _vpFeatureMomentCommon_h_
#define _vpFeatureMomentCommon_h_
#include <visp3/visual_features/vpFeatureMomentAlpha.h>
#include <visp3/visual_features/vpFeatureMomentArea.h>
#include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
#include <visp3/visual_features/vpFeatureMomentBasic.h>
#include <visp3/visual_features/vpFeatureMomentCInvariant.h>
#include <visp3/visual_features/vpFeatureMomentCentered.h>
#include <visp3/visual_features/vpFeatureMomentCommon.h>
#include <visp3/visual_features/vpFeatureMomentDatabase.h>
#include <visp3/visual_features/vpFeatureMomentGravityCenter.h>
#include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
 
class vpMomentDatabase;
class vpServo;
  vpMomentCommon mdb_dst(vpMomentCommon::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst),1.);
  //Init classic features
  vpFeatureMomentCommon fmdb_dst(mdb_dst);
 
  //update+compute moment primitives from object (for source)
  mdb_src.updateAll(src);
  //update+compute features (+interaction matrices) from plane
  fmdb_src.updateAll(0.,0.,1.);
 
  //update+compute moment primitives from object (for destination)
  mdb_dst.updateAll(dst);
  //update+compute features (+interaction matrices) from plane
  fmdb_dst.updateAll(0.,0.,1.);
 
  //define visual servoing task
  vpServo task;
  task.setServo(vpServo::EYEINHAND_CAMERA);
  task.setInteractionMatrixType(vpServo::CURRENT);
 
  //Add all classic features to the task
  //In this example, source and destination features are translated by 0.1
  //will produce a movement of 0.1 on x-axis.
  task.addFeature(fmdb_src.getFeatureGravityNormalized(),fmdb_dst.getFeatureGravityNormalized());
  task.addFeature(fmdb_src.getFeatureAn(),fmdb_dst.getFeatureAn());
  //the object is NOT symmetric
  //select C4 and C6
  task.addFeature(fmdb_src.getFeatureCInvariant(),fmdb_dst.getFeatureCInvariant(),(1 << 3) | (1 << 5));
  task.addFeature(fmdb_src.getFeatureAlpha(),fmdb_dst.getFeatureAlpha());
 
  task.setLambda(1) ;
  vpColVector v = task.computeControlLaw() ;
 
  task.print();
 
  return 0;
}
    \endcode
This code produces the following output:
\code
Visual servoing task:
Type of control law
Eye-in-hand configuration
Control in the camera frame
List of visual features : s
0.0166667,-0.00833333,
1,
-0.312148,0.0249916,
-1.43449,
List of desired visual features : s*
0.116667,-0.00833333,
1,
-0.312148,0.0249916,
-1.43449,
Interaction Matrix Ls
-1  0  -6.938893904e-18  0.007291666667  -1.06875  -0.008333333333
0  -1  3.469446952e-18  1.0171875  -0.007291666667  -0.01666666667
0  0  -1  0.0125  0.025  0
0  0  -4.585529113e-15  -0.2983860943  0.5832596643  -4.376751552e-16
0  0  -3.58244462e-15  0.08633028234  -0.2484618767  3.63421192e-16
4.353086256e-17  -1.339411156e-16  -0  -0.03019436997  -0.0168230563  -1
Error vector (s-s*)
-0.1  0  0  1.831867991e-15  -1.072059108e-15  0
Gain : Zero= 1  Inf= 1  Deriv= 0
 
\endcode
*/
class VISP_EXPORT vpFeatureMomentCommon : public vpFeatureMomentDatabase
{
private:
  vpFeatureMomentGravityCenter featureGravity;
  vpFeatureMomentGravityCenterNormalized featureGravityNormalized;
  vpFeatureMomentAreaNormalized featureAn;
  vpFeatureMomentCInvariant featureCInvariant;
  vpFeatureMomentAlpha featureAlpha;
  vpFeatureMomentCentered featureCentered;
  vpFeatureMomentBasic featureMomentBasic;
  vpFeatureMomentArea feature_moment_area;
 
public:
  vpFeatureMomentCommon(vpMomentDatabase &moments, double A = 0.0, double B = 0.0, double C = 1.0);
  void updateAll(double A, double B, double C);
  vpFeatureMomentAlpha &getFeatureAlpha() { return featureAlpha; }

  vpFeatureMomentAreaNormalized &getFeatureAn() { return featureAn; }
  vpFeatureMomentBasic &getFeatureMomentBasic() { return featureMomentBasic; }
  vpFeatureMomentCentered &getFeatureCentered() { return featureCentered; }

  vpFeatureMomentCInvariant &getFeatureCInvariant() { return featureCInvariant; }
  vpFeatureMomentGravityCenterNormalized &getFeatureGravityNormalized() { return featureGravityNormalized; }
  vpFeatureMomentArea &getFeatureArea() { return feature_moment_area; }
  vpFeatureMomentGravityCenter &getFeatureGravityCenter() { return featureGravity; }
};
 
#endif