polynomial_calculations.h

Go to the documentation of this file.

#ifndef PCL_POLYNOMIAL_CALCULATIONS_H_
#define POLYNOMIAL_CALCULATIONS_H_

//#include <cmath>
//#include <vector>

#include <Eigen/Core>
#include <Eigen/Geometry>
#include "pcl/common/bivariate_polynomial.h"

namespace pcl {

template <typename real>
class PolynomialCalculationsT {
  public:
    // =====CONSTRUCTOR & DESTRUCTOR=====
    PolynomialCalculationsT ();
    ~PolynomialCalculationsT ();
    
    // =====PUBLIC STRUCTS=====
    struct Parameters
    {
      Parameters () { setZeroValue (1e-6);}
      void
        setZeroValue (real new_zero_value);
      real zero_value;       
      real sqr_zero_value;   
    };
    
    // =====PUBLIC METHODS=====
    inline void
      solveQuarticEquation (real a, real b, real c, real d, real e, std::vector<real>& roots) const;

    inline void
      solveCubicEquation (real a, real b, real c, real d, std::vector<real>& roots) const;

    inline void
      solveQuadraticEquation (real a, real b, real c, std::vector<real>& roots) const;

    inline void
      solveLinearEquation (real a, real b, std::vector<real>& roots) const;
    
    inline BivariatePolynomialT<real>
      bivariatePolynomialApproximation (std::vector<Eigen::Matrix<real, 3, 1> >& samplePoints,
                                        unsigned int polynomial_degree, bool& error) const;
    
    inline bool
      bivariatePolynomialApproximation (std::vector<Eigen::Matrix<real, 3, 1> >& samplePoints,
                                        unsigned int polynomial_degree, BivariatePolynomialT<real>& ret) const;

      inline void
        setZeroValue (real new_zero_value) { parameters_.setZeroValue(new_zero_value); }
    
  protected:  
    // =====PROTECTED METHODS=====
    inline bool
      isNearlyZero (real d) { return fabs (d)<parameters_.zero_value;}
    inline bool
      sqrtIsNearlyZero (real d) { return fabs (d)<parameters_.sqr_zero_value;}
    
    // =====PROTECTED MEMBERS=====
    Parameters parameters_;
};

typedef PolynomialCalculationsT<double> PolynomialCalculationsd;
typedef PolynomialCalculationsT<float>  PolynomialCalculations;

}  // end namespace

#include "pcl/common/polynomial_calculations.hpp"

#endif

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013