vpFeatureMomentDatabase.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:
 * Pseudo-database used to handle dependencies between moment features.
 *
 * Authors:
 * Filip Novotny
 *
*****************************************************************************/

 
#ifndef _vpFeatureMomentDatabase_h_
#define _vpFeatureMomentDatabase_h_
 
#include <cstring>
#include <iostream>
#include <map>
#include <visp3/core/vpConfig.h>
 
class vpFeatureMoment;
class vpMomentObject;
    vpMomentObject obj(6); // Init object of order 6 because we are
                           // computing C-invariants
    obj.setType(vpMomentObject::DISCRETE); // Discrete mode for object
    obj.fromVector(vec_p);
 
    vpMomentDatabase mdb;     // database for moment primitives. This will
                              // only contain the basic moment.
    vpMomentCentered mc;      // Centered moment
    vpMomentBasic bm;         // Basic moment
    vpMomentGravityCenter gc; // gravity center
    vpMomentCInvariant ci;    // C-type invariant
 
    bm.linkTo(mdb); //add basic moment to moment database
    mc.linkTo(mdb); //add centered moment to moment database
    gc.linkTo(mdb); //add gravity center to moment database
    ci.linkTo(mdb); //add C-invariant to moment database
 
    vpFeatureMomentDatabase fmdb; // feature moment database to store
                                  // feature dependencies
 
    // Declare and link moments to database
    vpFeatureMomentBasic fmb(mdb,0.,0.,1.,&fmdb); fmb.linkTo(fmdb);
    vpFeatureMomentCentered fmc(mdb,0.,0.,1.,&fmdb); fmc.linkTo(fmdb);
    vpFeatureMomentCInvariant fci(mdb,0.,0.,1.,&fmdb); fci.linkTo(fmdb);
 
    // update the whole moment database
    mdb.updateAll(obj);
 
    // Compute moments in the correct order with the object
    bm.compute();
    gc.compute();
    mc.compute();
    ci.compute();
 
    // update the whole feature moment database with a plane
    fmb.update(0.,0.,1.);
    fmc.update(0.,0.,1.);
    fci.update(0.,0.,1.);
 
    std::cout << fci.interaction(vpFeatureMomentCInvariant::selectC1()) << std::endl;
  }
  catch(const vpException &e){
      std::cout << e.getMessage() << std::endl;
  }
 
  return 0;
}
\endcode
*/
class VISP_EXPORT vpFeatureMomentDatabase
{
private:
  struct vpCmpStr_t {
    bool operator()(const char *a, const char *b) const { return std::strcmp(a, b) < 0; }
    char *operator=(const char *) { return NULL; } // Only to avoid a warning under Visual with /Wall flag
  };
  std::map<const char *, vpFeatureMoment *, vpCmpStr_t> featureMomentsDataBase;
  void add(vpFeatureMoment &featureMoment, char *name);
 
public:
  vpFeatureMomentDatabase() : featureMomentsDataBase() {}
  virtual ~vpFeatureMomentDatabase() {}
  virtual void updateAll(double A = 0.0, double B = 0.0, double C = 1.0);
 
  vpFeatureMoment &get(const char *type, bool &found);
 
  // friend VISP_EXPORT std::ostream & operator<<(std::ostream& os, const
  // vpFeatureMomentDatabase& m);
  friend class vpFeatureMoment;
};
 
#endif