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vpMomentCentered.cpp
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/****************************************************************************
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*
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* $Id: vpMomentCentered.cpp 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Centered moment descriptor
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*
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* Authors:
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* Filip Novotny
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*
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*****************************************************************************/
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#include <visp/vpMomentCentered.h>
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#include <visp/vpMomentObject.h>
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#include <visp/vpMomentGravityCenter.h>
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#include <exception>
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#include <cassert>
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void
vpMomentCentered::compute
(){
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bool
found_moment_gravity;
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values
.resize((
getObject
().getOrder()+1)*(
getObject
().getOrder()+1));
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vpMomentGravityCenter
& momentGravity =
static_cast<
vpMomentGravityCenter
&
>
(
getMoments
().
get
(
"vpMomentGravityCenter"
,found_moment_gravity));
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if
(!found_moment_gravity)
throw
vpException
(
vpException::notInitialized
,
"vpMomentGravityCenter not found"
);
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unsigned
int
order =
getObject
().
getOrder
()+1;
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for
(
register
unsigned
int
j=0;j<(order);j++){
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for
(
register
unsigned
int
i=0;i<order-j;i++){
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unsigned
int
c = order*j+i;
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values
[c]=0;
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for
(
register
unsigned
int
k=0;k<=i;k++){
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double
Xg_i_k = pow(-momentGravity.
get
()[0],(int)(i-k));
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double
comb_i_k =
static_cast<
double
>
(
vpMath::comb
(i,k) );
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for
(
register
unsigned
int
l=0;l<=j;l++){
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values
[c]+=
static_cast<
double
>
( comb_i_k*
vpMath::comb
(j,l)
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*Xg_i_k
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*pow(-momentGravity.
get
()[1],(int)(j-l))*
getObject
().
get
(k,l) );
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}
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}
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}
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}
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}
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vpMomentCentered::vpMomentCentered
() :
vpMoment
(){
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}
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double
vpMomentCentered::get
(
unsigned
int
i,
unsigned
int
j){
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assert(i+j<=
getObject
().getOrder());
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if
(i+j>
getObject
().getOrder())
throw
vpException
(
vpException::badValue
,
"The requested value has not been computed, you should specify a higher order."
);
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return
values
[j*(
getObject
().
getOrder
()+1)+i];
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}
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std::ostream &
operator<<
(std::ostream & os,
vpMomentCentered
& m){
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for
(
unsigned
int
i = 0;i<m.
values
.size();i++){
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if
(i%(m.
getObject
().
getOrder
()+1)==0)
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os << std::endl;
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if
((i%(m.
getObject
().
getOrder
()+1)+i/(m.
getObject
().
getOrder
()+1))<m.
getObject
().
getOrder
()+1)
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os << m.
values
[i] ;
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else
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os <<
"x"
;
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os <<
"\t"
;
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}
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return
os;
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}
src
tracking
moments
vpMomentCentered.cpp
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