Static Public Member Functions | Static Private Member Functions | List of all members
next_best_view::MathHelper Class Reference

MathHelper unites the generally needed math operations. More...

#include <MathHelper.hpp>

Static Public Member Functions

static SimpleSphereCoordinates convertC2S (const SimpleVector3 &cartesian)
 converts cartesian coordinates to sphere coordinates More...
 
static void convertC2S (const SimpleVector3 &cartesian, SimpleSphereCoordinates &sphere)
 converts cartesian coordinates to sphere coordinates (lightweight) More...
 
static SimpleVector3 convertS2C (const SimpleSphereCoordinates &sphere)
 converts sphere coordinates to cartesian coordinates (lightweight) More...
 
static void convertS2C (const SimpleSphereCoordinates &sphere, SimpleVector3 &cartesian)
 converts sphere coordinates to cartesian coordinates (lightweight) More...
 
static double degToRad (double input)
 
template<typename PowerSet >
static boost::shared_ptr< PowerSet > filterCardinalityPowerSet (const boost::shared_ptr< PowerSet > &powerSetPtr, const std::size_t min, const std::size_t max)
 
template<typename PowerSet >
static boost::shared_ptr< PowerSet > filterCardinalityPowerSet (const boost::shared_ptr< PowerSet > &setPtr, const std::size_t min)
 
static Precision getAngle (const SimpleVector3 &X, const SimpleVector3 &Y)
 
static Precision getCosinus (const SimpleVector3 &X, const SimpleVector3 &Y)
 
static double getDotProduct (SimpleVector3 v1, SimpleVector3 v2)
 
static Precision getMinimumAngleDifference (const Precision &firstAngle, const Precision &secondAngle)
 
static SimpleQuaternionCollectionPtr getOrientationsOnUnitSphere (const int &numberOfPoints)
 
static SimpleVector3 getProjection (const std::size_t &idx, const SimpleVector3 &X)
 
static SimpleQuaternion getQuaternionByAngles (const Precision &heading, const Precision &attitude, const Precision &bank)
 
static int getRandomInteger (const int &min, const int &max)
 
static Precision getRandomNumber (const Precision &mean, const Precision &standardDeviation)
 
static SimpleQuaternion getRandomQuaternion ()
 
static SimpleVectorX getRandomVector (const SimpleVectorX &mean, const SimpleVectorX &standardDeviation)
 
static double getSignum (const double &value)
 
static SimpleVector3 getVisualAxis (const SimpleQuaternion &orientation)
 
static void getVisualAxis (const SimpleQuaternion &orientation, SimpleVector3 &resultAxis)
 
template<typename Set >
static boost::shared_ptr< std::set< boost::shared_ptr< Set > > > powerSet (const boost::shared_ptr< Set > &setPtr)
 
template<typename Set >
static void printPowerSet (boost::shared_ptr< std::set< boost::shared_ptr< Set > > > &powerSetPtr)
 
template<typename Set >
static void printSet (boost::shared_ptr< Set > &setPtr)
 
static double radToDeg (double input)
 
static bool vector3Equal (SimpleVector3 v1, SimpleVector3 v2)
 

Static Private Member Functions

static boost::mt19937 & getRandomnessGenerator ()
 

Detailed Description

MathHelper unites the generally needed math operations.

Author
Ralf Schleicher
Date
2014
Version
1.0
Copyright
GNU Public License

Definition at line 43 of file MathHelper.hpp.

Member Function Documentation

SimpleSphereCoordinates next_best_view::MathHelper::convertC2S ( const SimpleVector3 &  cartesian)
static

converts cartesian coordinates to sphere coordinates

Parameters
cartestianany cartesian coordinates
Returns
sphere coordinates (radius,inclinate,azimuth)

Definition at line 29 of file MathHelper.cpp.

void next_best_view::MathHelper::convertC2S ( const SimpleVector3 &  cartesian,
SimpleSphereCoordinates &  sphere 
)
static

converts cartesian coordinates to sphere coordinates (lightweight)

Parameters
cartestianany cartesian coordinates
sphere(out) sphere coordinates (radius,inclinate,azimuth)

Definition at line 35 of file MathHelper.cpp.

SimpleVector3 next_best_view::MathHelper::convertS2C ( const SimpleSphereCoordinates &  sphere)
static

converts sphere coordinates to cartesian coordinates (lightweight)

Parameters
sphereany sphere coordinates (radius,inclinate,azimuth)
Returns
cartesian coordinates

Definition at line 41 of file MathHelper.cpp.

void next_best_view::MathHelper::convertS2C ( const SimpleSphereCoordinates &  sphere,
SimpleVector3 &  cartesian 
)
static

converts sphere coordinates to cartesian coordinates (lightweight)

Parameters
sphereany sphere coordinates (radius,inclinate,azimuth)
cartesian(out) cartesian coordinates

Definition at line 47 of file MathHelper.cpp.

double next_best_view::MathHelper::degToRad ( double  input)
static
Parameters
inputin degrees
Returns
input in radians

Definition at line 172 of file MathHelper.cpp.

template<typename PowerSet >
static boost::shared_ptr<PowerSet> next_best_view::MathHelper::filterCardinalityPowerSet ( const boost::shared_ptr< PowerSet > &  powerSetPtr,
const std::size_t  min,
const std::size_t  max 
)
inlinestatic

Definition at line 215 of file MathHelper.hpp.

template<typename PowerSet >
static boost::shared_ptr<PowerSet> next_best_view::MathHelper::filterCardinalityPowerSet ( const boost::shared_ptr< PowerSet > &  setPtr,
const std::size_t  min 
)
inlinestatic

Definition at line 229 of file MathHelper.hpp.

Precision next_best_view::MathHelper::getAngle ( const SimpleVector3 &  X,
const SimpleVector3 &  Y 
)
static
Parameters
X[in] the first 3d vector
Y[in] the second 3d vector
Returns
the angle between the two vectors

Definition at line 81 of file MathHelper.cpp.

Precision next_best_view::MathHelper::getCosinus ( const SimpleVector3 &  X,
const SimpleVector3 &  Y 
)
static
Parameters
X[in] the first 3d vector
Y[in] the second 3d vector
Returns
the cosinus between the two vectors.

Definition at line 71 of file MathHelper.cpp.

double next_best_view::MathHelper::getDotProduct ( SimpleVector3  v1,
SimpleVector3  v2 
)
static

Definition at line 176 of file MathHelper.cpp.

Precision next_best_view::MathHelper::getMinimumAngleDifference ( const Precision &  firstAngle,
const Precision &  secondAngle 
)
static
Parameters
firstAngle[in] the first angle
secondAngle[in] the second angle
Returns
the minimum angle difference.

Definition at line 87 of file MathHelper.cpp.

SimpleQuaternionCollectionPtr next_best_view::MathHelper::getOrientationsOnUnitSphere ( const int &  numberOfPoints)
static
Parameters
numberOfPoints[in] the number of points to use.
Returns
an array of orientations.

Definition at line 136 of file MathHelper.cpp.

SimpleVector3 next_best_view::MathHelper::getProjection ( const std::size_t &  idx,
const SimpleVector3 &  X 
)
static
Parameters
idx[in] the index to project to 0
X[in] the 3d vector used for this action.
Returns
the 3d vector after projection

Definition at line 67 of file MathHelper.cpp.

SimpleQuaternion next_best_view::MathHelper::getQuaternionByAngles ( const Precision &  heading,
const Precision &  attitude,
const Precision &  bank 
)
static
Parameters
heading[in] the heading angle
attitude[in] the attitude angle
bank[in] the bank angle
Returns
the corresponding quaternion

Definition at line 118 of file MathHelper.cpp.

int next_best_view::MathHelper::getRandomInteger ( const int &  min,
const int &  max 
)
static
Parameters
min[in] the minumum integer
max[in] the maximum integer
Returns
a random integer in the range [min, max]

Definition at line 92 of file MathHelper.cpp.

boost::mt19937 & next_best_view::MathHelper::getRandomnessGenerator ( )
staticprivate
Returns
the randomness generator.

Definition at line 24 of file MathHelper.cpp.

Precision next_best_view::MathHelper::getRandomNumber ( const Precision &  mean,
const Precision &  standardDeviation 
)
static
Parameters
mean[in] the mean value
standardDeviation[in] the standard deviation to use.
Returns
a normal distributed random number.

Definition at line 98 of file MathHelper.cpp.

SimpleQuaternion next_best_view::MathHelper::getRandomQuaternion ( )
static
Returns
a random rotation quaternion

Definition at line 113 of file MathHelper.cpp.

SimpleVectorX next_best_view::MathHelper::getRandomVector ( const SimpleVectorX &  mean,
const SimpleVectorX &  standardDeviation 
)
static
Parameters
mean[in] the mean value in X dimensions
standardDeviation[in] the standard deviation to use in X dimensions.
Returns
a normal distributed random vector.

Definition at line 104 of file MathHelper.cpp.

double next_best_view::MathHelper::getSignum ( const double &  value)
static
Parameters
value[in]
Returns
the signum of value

Definition at line 63 of file MathHelper.cpp.

SimpleVector3 next_best_view::MathHelper::getVisualAxis ( const SimpleQuaternion &  orientation)
static

Definition at line 53 of file MathHelper.cpp.

void next_best_view::MathHelper::getVisualAxis ( const SimpleQuaternion &  orientation,
SimpleVector3 &  resultAxis 
)
static

Definition at line 59 of file MathHelper.cpp.

template<typename Set >
static boost::shared_ptr<std::set<boost::shared_ptr<Set> > > next_best_view::MathHelper::powerSet ( const boost::shared_ptr< Set > &  setPtr)
inlinestatic

Definition at line 189 of file MathHelper.hpp.

template<typename Set >
static void next_best_view::MathHelper::printPowerSet ( boost::shared_ptr< std::set< boost::shared_ptr< Set > > > &  powerSetPtr)
inlinestatic

Definition at line 180 of file MathHelper.hpp.

template<typename Set >
static void next_best_view::MathHelper::printSet ( boost::shared_ptr< Set > &  setPtr)
inlinestatic

Definition at line 172 of file MathHelper.hpp.

double next_best_view::MathHelper::radToDeg ( double  input)
static
Parameters
inputin radians
Returns
input in degrees

Definition at line 168 of file MathHelper.cpp.

bool next_best_view::MathHelper::vector3Equal ( SimpleVector3  v1,
SimpleVector3  v2 
)
static

Definition at line 181 of file MathHelper.cpp.

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

asr_next_best_view
Author(s): Aumann Florian, Borella Jocelyn, Heller Florian, Meißner Pascal, Schleicher Ralf, Stöckle Patrick, Stroh Daniel, Trautmann Jeremias, Walter Milena, Wittenbeck Valerij
autogenerated on Thu Jan 9 2020 07:20:18