41 #include <visp/vpConfig.h>
47 #include <visp/vpFeatureMomentArea.h>
48 #include <visp/vpMomentObject.h>
49 #include <visp/vpMomentGravityCenter.h>
50 #include <visp/vpMomentArea.h>
51 #include <visp/vpFeatureMomentDatabase.h>
90 double Xg = momentGravity.
getXg();
91 double Yg = momentGravity.
getYg();
93 double a = areamoment.
get()[0];
95 assert(std::fabs(a-mobj.
get(0,0)) < a*std::numeric_limits<double>::epsilon());
98 interaction_matrices[0][0][1] = -a*
B;
99 interaction_matrices[0][0][2] = (3*a)*(A*Xg+B*Yg)+(2*
C*a);
100 interaction_matrices[0][0][3] = 3*a*Yg;
101 interaction_matrices[0][0][4] = -3*a*Xg;
102 interaction_matrices[0][0][5] = 0.;