MathTools Class Reference

`#include <RobotAPI/components/EarlyVisionGraph/MathTools.h>`

## Static Public Member Functions

static double Angle (Eigen::Vector3d vec1, Eigen::Vector3d vec2)

static float AngleAndDirection (Eigen::Vector3d vector1, Eigen::Vector3d vector2, Eigen::Vector3d normal)

static float CalculateCrossProductFromDifference (TSphereCoord p1, TSphereCoord p2, TSphereCoord p3)

static void convert (Eigen::Vector3d in, TSphereCoord &out)

static void convert (Eigen::Vector3f in, TSphereCoord &out)

static void convert (TSphereCoord in, Eigen::Vector3d &out)

static void convert (TSphereCoord in, Eigen::Vector3f &out)

static void convertWithDistance (TSphereCoord in, Eigen::Vector3d &out)

static TTransform determinePathTransformation (TPath *p1, TPath *p2)

static TTransform determineTransformation (TSphereCoord start1, TSphereCoord start2, TSphereCoord end1, TSphereCoord end2)

static void determineTransformationAlphaBeta (TSphereCoord sc1, TSphereCoord sc2, float &fAlpha, float &fBeta, Eigen::Vector3d &betaAxis)

static Eigen::Vector3d dropAPerpendicular (Eigen::Vector3d point, Eigen::Vector3d linepoint, Eigen::Vector3d linevector)

static float getDistance (TSphereCoord p1, TSphereCoord p2, float fRadius)

static float getDistanceOnArc (TSphereCoord p1, TSphereCoord p2)

static bool IntersectLines (Eigen::Vector2d p1, Eigen::Vector2d m1, Eigen::Vector2d p2, Eigen::Vector2d m2, Eigen::Vector2d &res)

static TSphereCoord inverseTransform (TSphereCoord sc, TTransform transform)

static TSphereCoord inverseTransformAlphaBeta (TSphereCoord sc, float fAlpha, float fBeta, Eigen::Vector3d betaAxis)

static TPathinverseTransformPath (TTransform transform, TPath *pPath)

static TSphereCoord transform (TSphereCoord sc, TTransform transform)

static TSphereCoord transformAlphaBeta (TSphereCoord sc, float fAlpha, float fBeta, Eigen::Vector3d betaAxis)

static TPathtransformPath (TTransform transform, TPath *pPath)

## Detailed Description

Definition at line 31 of file MathTools.h.

## ◆ Angle()

 double Angle ( Eigen::Vector3d vec1, Eigen::Vector3d vec2 )
static

Definition at line 270 of file MathTools.cpp.

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## ◆ AngleAndDirection()

 float AngleAndDirection ( Eigen::Vector3d vector1, Eigen::Vector3d vector2, Eigen::Vector3d normal )
static

Definition at line 353 of file MathTools.cpp.

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## ◆ CalculateCrossProductFromDifference()

 float CalculateCrossProductFromDifference ( TSphereCoord p1, TSphereCoord p2, TSphereCoord p3 )
static

Definition at line 258 of file MathTools.cpp.

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## ◆ convert() [1/4]

 void convert ( Eigen::Vector3d in, TSphereCoord & out )
static

Definition at line 442 of file MathTools.cpp.

## ◆ convert() [2/4]

 void convert ( Eigen::Vector3f in, TSphereCoord & out )
static

Definition at line 481 of file MathTools.cpp.

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## ◆ convert() [3/4]

 void convert ( TSphereCoord in, Eigen::Vector3d & out )
static

Definition at line 401 of file MathTools.cpp.

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## ◆ convert() [4/4]

 void convert ( TSphereCoord in, Eigen::Vector3f & out )
static

Definition at line 433 of file MathTools.cpp.

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## ◆ convertWithDistance()

 void convertWithDistance ( TSphereCoord in, Eigen::Vector3d & out )
static

Definition at line 427 of file MathTools.cpp.

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## ◆ determinePathTransformation()

 TTransform determinePathTransformation ( TPath * p1, TPath * p2 )
static

Definition at line 22 of file MathTools.cpp.

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## ◆ determineTransformation()

 TTransform determineTransformation ( TSphereCoord start1, TSphereCoord start2, TSphereCoord end1, TSphereCoord end2 )
static

Definition at line 81 of file MathTools.cpp.

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## ◆ determineTransformationAlphaBeta()

 void determineTransformationAlphaBeta ( TSphereCoord sc1, TSphereCoord sc2, float & fAlpha, float & fBeta, Eigen::Vector3d & betaAxis )
static

Definition at line 156 of file MathTools.cpp.

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## ◆ dropAPerpendicular()

 Eigen::Vector3d dropAPerpendicular ( Eigen::Vector3d point, Eigen::Vector3d linepoint, Eigen::Vector3d linevector )
static

Definition at line 377 of file MathTools.cpp.

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## ◆ getDistance()

 float getDistance ( TSphereCoord p1, TSphereCoord p2, float fRadius )
static

Definition at line 295 of file MathTools.cpp.

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## ◆ getDistanceOnArc()

 float getDistanceOnArc ( TSphereCoord p1, TSphereCoord p2 )
static

Definition at line 277 of file MathTools.cpp.

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## ◆ IntersectLines()

 bool IntersectLines ( Eigen::Vector2d p1, Eigen::Vector2d m1, Eigen::Vector2d p2, Eigen::Vector2d m2, Eigen::Vector2d & res )
static

Definition at line 310 of file MathTools.cpp.

## ◆ inverseTransform()

 TSphereCoord inverseTransform ( TSphereCoord sc, TTransform transform )
static

Definition at line 138 of file MathTools.cpp.

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## ◆ inverseTransformAlphaBeta()

 TSphereCoord inverseTransformAlphaBeta ( TSphereCoord sc, float fAlpha, float fBeta, Eigen::Vector3d betaAxis )
static

Definition at line 234 of file MathTools.cpp.

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## ◆ inverseTransformPath()

 TPath * inverseTransformPath ( TTransform transform, TPath * pPath )
static

Definition at line 57 of file MathTools.cpp.

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## ◆ transform()

 TSphereCoord transform ( TSphereCoord sc, TTransform transform )
static

Definition at line 119 of file MathTools.cpp.

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## ◆ transformAlphaBeta()

 TSphereCoord transformAlphaBeta ( TSphereCoord sc, float fAlpha, float fBeta, Eigen::Vector3d betaAxis )
static

Definition at line 213 of file MathTools.cpp.

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## ◆ transformPath()

 TPath * transformPath ( TTransform transform, TPath * pPath )
static

Definition at line 33 of file MathTools.cpp.

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The documentation for this class was generated from the following files: