polynomial_calculations.h
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00035 
00036 #ifndef PCL_POLYNOMIAL_CALCULATIONS_H_
00037 #define PCL_POLYNOMIAL_CALCULATIONS_H_
00038 
00039 #include <pcl/common/eigen.h>
00040 #include <pcl/common/bivariate_polynomial.h>
00041 
00042 namespace pcl 
00043 {
00049   template <typename real>
00050   class PolynomialCalculationsT 
00051   {
00052     public:
00053       // =====CONSTRUCTOR & DESTRUCTOR=====
00054       PolynomialCalculationsT ();
00055       ~PolynomialCalculationsT ();
00056       
00057       // =====PUBLIC STRUCTS=====
00059       struct Parameters
00060       {
00061         Parameters () : zero_value (), sqr_zero_value () { setZeroValue (1e-6);}
00063         void
00064         setZeroValue (real new_zero_value);
00065 
00066         real zero_value;       
00067         real sqr_zero_value;   
00068       };
00069       
00070       // =====PUBLIC METHODS=====
00073       inline void
00074       solveQuarticEquation (real a, real b, real c, real d, real e, std::vector<real>& roots) const;
00075 
00078       inline void
00079       solveCubicEquation (real a, real b, real c, real d, std::vector<real>& roots) const;
00080 
00083       inline void
00084       solveQuadraticEquation (real a, real b, real c, std::vector<real>& roots) const;
00085 
00087       inline void
00088       solveLinearEquation (real a, real b, std::vector<real>& roots) const;
00089       
00095       inline BivariatePolynomialT<real>
00096       bivariatePolynomialApproximation (std::vector<Eigen::Matrix<real, 3, 1> >& samplePoints,
00097                                         unsigned int polynomial_degree, bool& error) const;
00098       
00100       inline bool
00101       bivariatePolynomialApproximation (std::vector<Eigen::Matrix<real, 3, 1> >& samplePoints,
00102                                         unsigned int polynomial_degree, BivariatePolynomialT<real>& ret) const;
00103 
00105       inline void
00106       setZeroValue (real new_zero_value) { parameters_.setZeroValue(new_zero_value); }
00107       
00108     protected:  
00109       // =====PROTECTED METHODS=====
00111       inline bool
00112       isNearlyZero (real d) const 
00113       { 
00114         return (fabs (d) < parameters_.zero_value);
00115       }
00116       
00118       inline bool
00119       sqrtIsNearlyZero (real d) const 
00120       { 
00121         return (fabs (d) < parameters_.sqr_zero_value);
00122       }
00123       
00124       // =====PROTECTED MEMBERS=====
00125       Parameters parameters_;
00126   };
00127 
00128   typedef PolynomialCalculationsT<double> PolynomialCalculationsd;
00129   typedef PolynomialCalculationsT<float>  PolynomialCalculations;
00130 
00131 }  // end namespace
00132 
00133 #include <pcl/common/impl/polynomial_calculations.hpp>
00134 
00135 #endif


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:21