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

static TSphereCoord	transform (TSphereCoord sc, TTransform transform)

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

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

Detailed Description

Definition at line 31 of file MathTools.h.

Member Function Documentation

◆ 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:

RobotAPI/components/EarlyVisionGraph/MathTools.h
RobotAPI/components/EarlyVisionGraph/MathTools.cpp

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ Angle()

◆ AngleAndDirection()

◆ CalculateCrossProductFromDifference()

◆ convert() [1/4]

◆ convert() [2/4]

◆ convert() [3/4]

◆ convert() [4/4]

◆ convertWithDistance()

◆ determinePathTransformation()

◆ determineTransformation()

◆ determineTransformationAlphaBeta()

◆ dropAPerpendicular()

◆ getDistance()

◆ getDistanceOnArc()

◆ IntersectLines()

◆ inverseTransform()

◆ inverseTransformAlphaBeta()

◆ inverseTransformPath()

◆ transform()

◆ transformAlphaBeta()

◆ transformPath()