/****************************************************************************
 *
 * 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:
 * Implementation for all supported moment features.
 *
 * Authors:
 * Filip Novotny
 * Manikandan Bakthavatchalam
 *****************************************************************************/
/*!
  \file vpFeatureMomentCentered.h
  \brief Implementation of the interaction matrix computation for
  vpMomentCentered.
*/
#ifndef _vpFeatureMomentCentered_h_
#define _vpFeatureMomentCentered_h_

#include <visp3/visual_features/vpFeatureMoment.h>
#include <visp3/visual_features/vpFeatureMomentBasic.h>

class vpMomentDatabase;
/*!
  \class vpFeatureMomentCentered

  \ingroup group_visual_features

  \brief Functionality computation for centered moment feature. Computes the
  interaction matrix associated with vpMomentCentered.

  The interaction matrix for the feature is defined in \cite Tahri05z,
  equation (17). This vpFeatureMoment, as well as it's corresponding moment
  primitive is double-indexed. The interaction matrix \f$ L_{\mu_{ij}} \f$ is
  obtained by calling vpFeatureMomentBasic::interaction (i,j) and is
  associated to \f$ \mu_{ij} \f$ obtained by vpFeatureMomentCentered::get
  (i,j).

  vpFeatureMomentCentered computes interaction matrices all interaction
  matrices up to vpMomentObject::getOrder()-1. \attention The maximum order
  reached by vpFeatureMomentBasic is NOT the maximum order of the
  vpMomentObject, it is one unit smaller. For example if you define your
  vpMomentObject up to order n then vpFeatureMomentBasic will be able to
  compute interaction matrices up to order n-1 that is \f$ L_{m_{ij}} \f$ with
  \f$ i+j<=n-1 \f$.

    This feature depends on:
        - vpFeatureMomentBasic
        - vpFeatureMomentGravityCenter
        - vpMomentGravityCenter
*/
class VISP_EXPORT vpFeatureMomentCentered : public vpFeatureMoment
{

protected:
  unsigned int order;
  /*!
     Core computation of interaction matrix for moment m_pq
  */
  vpMatrix compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg, const double &yg,
                          const vpMatrix &L_xg, const vpMatrix &L_yg, const vpMomentBasic &m,
                          const vpFeatureMomentBasic &feature_moment_m) const;

public:
  vpFeatureMomentCentered(vpMomentDatabase &moments, double A, double B, double C,
                          vpFeatureMomentDatabase *featureMoments = NULL);
  void compute_interaction();

#ifndef DOXYGEN_SHOULD_SKIP_THIS
  /* Add function due to pure virtual definition in vpBasicFeature.h */
  vpMatrix interaction(unsigned int /* select = FEATURE_ALL */)
  {
    throw vpException(vpException::functionNotImplementedError, "Not implemented!");
  }
#endif
  /*!
  Interaction matrix corresponding to \f$ \mu_{ij} \f$ moment
  \param select_one : first index (i)
  \param select_two : second index (j)
  \return Interaction matrix corresponding to the moment
  */
  vpMatrix interaction(unsigned int select_one, unsigned int select_two) const;

  /*!
    associated moment name
    */
  const char *momentName() const { return "vpMomentCentered"; }
  /*!
    feature name
    */
  const char *name() const { return "vpFeatureMomentCentered"; }

  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMomentCentered &v);
};

#endif
