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 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 294 of file MathTools.cpp.

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AngleAndDirection()

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

static

Definition at line 385 of file MathTools.cpp.

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CalculateCrossProductFromDifference()

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

static

Definition at line 281 of file MathTools.cpp.

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convert() [1/4]

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

static

Definition at line 482 of file MathTools.cpp.

convert() [2/4]

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

static

Definition at line 521 of file MathTools.cpp.

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convert() [3/4]

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

static

Definition at line 440 of file MathTools.cpp.

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convert() [4/4]

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

static

Definition at line 473 of file MathTools.cpp.

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convertWithDistance()

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

static

Definition at line 466 of file MathTools.cpp.

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determinePathTransformation()

TTransform determinePathTransformation ( TPath * p1, TPath * p2 )

static

Definition at line 25 of file MathTools.cpp.

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determineTransformation()

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

static

Definition at line 85 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 168 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 412 of file MathTools.cpp.

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getDistance()

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

static

Definition at line 321 of file MathTools.cpp.

getDistanceOnArc()

float getDistanceOnArc ( TSphereCoord p1, TSphereCoord p2 )

static

Definition at line 302 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 337 of file MathTools.cpp.

inverseTransform()

TSphereCoord inverseTransform ( TSphereCoord sc, TTransform transform )

static

Definition at line 148 of file MathTools.cpp.

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inverseTransformAlphaBeta()

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

static

Definition at line 253 of file MathTools.cpp.

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inverseTransformPath()

TPath * inverseTransformPath ( TTransform transform, TPath * pPath )

static

Definition at line 61 of file MathTools.cpp.

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transform()

TSphereCoord transform ( TSphereCoord sc, TTransform transform )

static

Definition at line 127 of file MathTools.cpp.

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transformAlphaBeta()

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

static

Definition at line 231 of file MathTools.cpp.

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transformPath()

TPath * transformPath ( TTransform transform, TPath * pPath )

static

Definition at line 37 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