41 #include <visp/vpConfig.h>
43 #ifdef VISP_MOMENTS_COMBINE_MATRICES
47 #include <visp/vpMomentObject.h>
48 #include <visp/vpFeatureMomentAreaNormalized.h>
49 #include <visp/vpFeatureMomentBasic.h>
50 #include <visp/vpMomentCentered.h>
51 #include <visp/vpMomentAreaNormalized.h>
52 #include <visp/vpFeatureMomentCentered.h>
53 #include <visp/vpFeatureMomentDatabase.h>
66 bool found_moment_centered;
67 bool found_moment_surface_normalized;
68 bool found_FeatureMoment_centered;
70 bool found_featuremoment_basic;
86 double normalized_multiplier;
90 a = momentCentered.
get(2,0)+momentCentered.
get(0,2);
93 a = momentObject.
get(0,0);
107 #include <visp/vpMomentObject.h>
108 #include <visp/vpMomentAreaNormalized.h>
109 #include <visp/vpMomentCentered.h>
110 #include <visp/vpMomentCentered.h>
111 #include <visp/vpMomentGravityCenter.h>
112 #include <visp/vpFeatureMomentDatabase.h>
113 #include <visp/vpFeatureMomentAreaNormalized.h>
124 bool found_moment_centered;
125 bool found_moment_surface_normalized;
126 bool found_moment_gravity;
138 double n11 = momentCentered.
get(1,1)/momentObject.
get(0,0);
139 double n20 = momentCentered.
get(2,0)/momentObject.
get(0,0);
140 double n02 = momentCentered.
get(0,2)/momentObject.
get(0,0);
141 double Xg = momentGravity.
getXg();
142 double Yg = momentGravity.
getYg();
144 double An=momentSurfaceNormalized.
get()[0];
149 double Anvx,Anvy,Anvz,Anwx,Anwy;
152 double a = momentCentered.
get(2,0)+momentCentered.
get(0,2);
154 double e01 = momentCentered.
get(0,1)/a;
155 double e10 = momentCentered.
get(1,0)/a;
156 double e11 = momentCentered.
get(1,1)/a;
157 double e02 = momentCentered.
get(0,2)/a;
158 double e20 = momentCentered.
get(2,0)/a;
159 double e12 = momentCentered.
get(1,2)/a;
160 double e21 = momentCentered.
get(2,1)/a;
161 double e03 = momentCentered.
get(0,3)/a;
162 double e30 = momentCentered.
get(3,0)/a;
164 Anvx = An*
A*e20+An*
B*e11;
165 Anvy = An*
A*e11+An*
B*e02;
167 Anwx = (n02*e01+n11*e10-e03-e21)*An-Xn*e11+(-1-e02)*Yn;
168 Anwy = (e12+e30-n11*e01-n20*e10)*An+(2-e02)*Xn+Yn*e11;
170 Anvz = -An*
C+
B*Anwx-
A*Anwy;
175 Anvz = -An*
C-(3./2.)*
A*Xn-(3./2.)*
B*Yn;