vpMomentAreaNormalized.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:
 * 2D normalized surface moment descriptor (usually described as An)
 */
#ifndef _vpMomentAreaNormalized_h_
#define _vpMomentAreaNormalized_h_
 
#include <visp3/core/vpMoment.h>
 
class vpMomentObject;
class vpMomentCentered;

  vpMomentObject obj(2); // Object where all the moment defined with
                         // i+j <= 2 will be computed below. Order is
                         // 2 because in discrete mode, the surface
                         // computation is a=mu02+mu02
 
 
  obj.setType(vpMomentObject::DISCRETE); // Discrete mode for object
  obj.fromVector(vec_p); // initialize the object with the points coordinates
 
  vpMomentDatabase db; //reference database
  vpMomentGravityCenter g; // declaration of gravity center
  vpMomentCentered mc; //  centered moments
  vpMomentAreaNormalized an(2,1); //declare normalized surface with
                                //destination depth of 1 meter and
                                //destination surface of 2 m2
 
  g.linkTo(db); //add gravity center to database
  mc.linkTo(db); //add centered moments
  an.linkTo(db); //add alpha depending on centered moments
 
  db.updateAll(obj); // All of the moments must be updated, not just an
 
  g.compute(); // compute the moment
  mc.compute(); //compute centered moments AFTER gravity center
  an.compute(); //compute alpha AFTER centered moments.
 
  std::cout << an << std::endl;
 
  return 0;
}
  \endcode
    This code produces the following output:
  \code
An:1.41421
  \endcode
*/
class VISP_EXPORT vpMomentAreaNormalized : public vpMoment
{
private:
  double desiredSurface;
  double desiredDepth;
 
public:
  vpMomentAreaNormalized(double a_star, double Z_star);
  virtual ~vpMomentAreaNormalized() { };
  void compute();
  double getDesiredArea() const { return desiredSurface; }
  double getDesiredDepth() const { return desiredDepth; }

  void setDesiredDepth(double Z_star) { desiredDepth = Z_star; }
  void setDesiredArea(double a_star) { desiredSurface = a_star; }
 
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

  vp_deprecated double getDesiredSurface() const { return desiredSurface; }
#endif

  const char *name() const { return "vpMomentAreaNormalized"; }
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAreaNormalized &v);
  void printDependencies(std::ostream &os) const;
};
 
#endif