math3d Namespace Reference

Classes
struct	color_rgb24
class	invalid_vector
class	matrix
struct	matrix3x3
class	oriented_point3d
struct	quaternion
struct	triangle
struct	vec3d

Typedefs
typedef vec3d< double >	normal3d
typedef vec3d< double >	point3d
typedef std::pair< matrix3x3< double >, point3d >	rigid_motion_t

Functions
template<typename T >
bool	almost_zero (T a, double e)
template<typename T >
void	conjugate (quaternion< T > &q)
template<typename T >
vec3d< T >	cross_product (const vec3d< T > &v1, const vec3d< T > &v2)
template<typename T >
double	dist (const T &p1, const T &p2)
template<typename T >
T	dot (const quaternion< T > &a, const quaternion< T > &b)
template<typename T >
T	dot_product (const vec3d< T > &v1, const vec3d< T > &v2)
template<typename T , typename S >
double	dot_product (const vec3d< T > &v1, const vec3d< S > &v2)
template<typename T >
T	dot_product (const quaternion< T > &p, const quaternion< T > &q)
template<typename T >
vec3d< T >	get_normalize (const vec3d< T > &p)
template<typename T >
vec3d< T >	get_rotate (const vec3d< T > &v, const quaternion< T > &q)
template<typename T >
vec3d< T >	get_rotate (const vec3d< T > &p, const matrix3x3< T > &rot)
template<typename T >
vec3d< T >	get_rotate_translate (const vec3d< T > &p, const matrix3x3< T > &rot, const point3d &t)
template<typename T >
vec3d< T >	get_rotate_translate (const vec3d< T > &p, const matrix< T > &rot, const point3d &t)
template<typename T >
vec3d< T >	get_rotate_translate (const vec3d< T > &p, const T *rot, const T *t)
template<typename T >
vec3d< T >	get_rotate_translate (const vec3d< T > &v, const quaternion< T > &rot, const point3d &t)
template<typename T >
matrix3x3< T >	get_transpose (const matrix3x3< T > &m)
template<typename T >
matrix3x3< T >	identity3x3 ()
template<typename R , typename T >
void	invert (R &r, T &t)
template<typename T >
double	magnitude (const T &p)
template<typename Iterator >
double	median (Iterator start, Iterator end)
template<typename T >
void	mult_matrix (const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
template<typename Rot1 , typename Rot2 , typename Rot3 >
void	mult_matrix (const Rot1 &m1, const Rot2 &m2, Rot3 &r)
template<typename T >
void	mult_matrix_inplace (const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
template<typename T >
void	mult_quaternion (const quaternion< T > &a, const quaternion< T > &b, quaternion< T > &r)
template<typename T >
T	norm (const quaternion< T > &a)
template<typename T >
double	norm2 (const T &v)
template<typename T >
void	normalize (quaternion< T > &q)
template<typename T >
double	normalize (vec3d< T > &p)
template<typename T >
quaternion< T >	operator* (const quaternion< T > &a, const quaternion< T > &b)
template<typename T >
quaternion< T >	operator+ (const quaternion< T > &a, const quaternion< T > &b)
template<typename T >
quaternion< T >	operator~ (const quaternion< T > &a)
template<typename T >
matrix3x3< T >	quaternion_to_rot_matrix (const quaternion< T > &q)
template<typename T >
void	relative_motion (const matrix3x3< T > &Ri, const point3d &Ti, const matrix3x3< T > &Rj, const point3d &Tj, matrix3x3< T > &Rij, point3d &Tij)
template<typename T >
quaternion< T >	rot_matrix_to_quaternion (const matrix3x3< T > &m)
template<typename T >
void	rotate (vec3d< T > &p, const matrix< T > &rot)
template<typename T >
void	rotate (vec3d< T > &p, const matrix3x3< T > &rot)
template<typename T , typename S >
void	rotate (vec3d< T > &p, const matrix< S > &rot)
template<typename T , typename S >
void	rotate (vec3d< T > &p, const matrix3x3< S > &rot)
template<typename T >
void	rotate (vec3d< T > &p, const quaternion< T > &rot)
template<typename T , typename RotationType >
void	rotate_translate (vec3d< T > &v, const RotationType &rot, const point3d &trans)
template<typename T >
void	set_identity (quaternion< T > &q)
template<typename T >
void	set_identity (matrix< T > &m, T val=1)
template<typename T >
void	set_identity (matrix3x3< T > &m, T val=1)
template<typename T >
double	squared_dist (const vec3d< T > &p1, const vec3d< T > &p2)
template<typename T >
void	transpose (matrix< T > &m)
template<typename T >
void	transpose (matrix3x3< T > &m)
template<typename T >
void	transpose (const matrix< T > &src, matrix< T > &dest)
template<typename T >
void	transpose (const matrix3x3< T > &src, matrix3x3< T > &dest)

Variables
static const double	deg_on_rad = 180. / pi
static const double	pi = M_PI
static const double	rad_on_deg = pi / 180.

Typedef Documentation

typedef vec3d<double> math3d::normal3d

Definition at line 204 of file math3d.h.

typedef vec3d<double> math3d::point3d

Definition at line 205 of file math3d.h.

typedef std::pair<matrix3x3<double>, point3d> math3d::rigid_motion_t

Definition at line 919 of file math3d.h.

Function Documentation

template<typename T >

bool math3d::almost_zero ( T  a, double  e  )

inline

Definition at line 56 of file math3d.h.

template<typename T >

void math3d::conjugate ( quaternion< T > &  q )

inline

Definition at line 681 of file math3d.h.

template<typename T >

vec3d<T> math3d::cross_product ( const vec3d< T > &  v1, const vec3d< T > &  v2  )

inline

Definition at line 1150 of file math3d.h.

template<typename T >

double math3d::dist ( const T &  p1, const T &  p2  )

inline

Definition at line 1103 of file math3d.h.

template<typename T >

T math3d::dot	(	const quaternion< T > &	a,
		const quaternion< T > &	b
	)

Definition at line 650 of file math3d.h.

template<typename T >

T math3d::dot_product ( const vec3d< T > &  v1, const vec3d< T > &  v2  )

inline

Definition at line 1120 of file math3d.h.

template<typename T , typename S >

double math3d::dot_product ( const vec3d< T > &  v1, const vec3d< S > &  v2  )

inline

Definition at line 1126 of file math3d.h.

template<typename T >

T math3d::dot_product ( const quaternion< T > &  p, const quaternion< T > &  q  )

inline

Definition at line 1132 of file math3d.h.

template<typename T >

vec3d<T> math3d::get_normalize ( const vec3d< T > &  p )

inline

Definition at line 1095 of file math3d.h.

template<typename T >

vec3d<T> math3d::get_rotate ( const vec3d< T > &  v, const quaternion< T > &  q  )

inline

Definition at line 971 of file math3d.h.

template<typename T >

vec3d<T> math3d::get_rotate ( const vec3d< T > &  p, const matrix3x3< T > &  rot  )

inline

Definition at line 988 of file math3d.h.

template<typename T >

vec3d<T> math3d::get_rotate_translate ( const vec3d< T > &  p, const matrix3x3< T > &  rot, const point3d &  t  )

inline

Definition at line 1004 of file math3d.h.

template<typename T >

vec3d<T> math3d::get_rotate_translate ( const vec3d< T > &  p, const matrix< T > &  rot, const point3d &  t  )

inline

Definition at line 1012 of file math3d.h.

template<typename T >

vec3d<T> math3d::get_rotate_translate ( const vec3d< T > &  p, const T *  rot, const T *  t  )

inline

Definition at line 1023 of file math3d.h.

template<typename T >

vec3d<T> math3d::get_rotate_translate ( const vec3d< T > &  v, const quaternion< T > &  rot, const point3d &  t  )

inline

Definition at line 1029 of file math3d.h.

template<typename T >

matrix3x3<T> math3d::get_transpose ( const matrix3x3< T > &  m )

inline

Definition at line 827 of file math3d.h.

template<typename T >

matrix3x3<T> math3d::identity3x3 ( )

inline

Definition at line 513 of file math3d.h.

template<typename R , typename T >

void math3d::invert ( R &  r, T &  t  )

inline

Inverts a rigid motion.

Definition at line 1039 of file math3d.h.

template<typename T >

double math3d::magnitude ( const T &  p )

inline

Definition at line 1144 of file math3d.h.

template<typename Iterator >

double math3d::median ( Iterator  start, Iterator  end  )

inline

Definition at line 1161 of file math3d.h.

template<typename T >

void math3d::mult_matrix ( const matrix3x3< T > &  m1, const matrix3x3< T > &  m2, matrix3x3< T > &  r  )

inline

Definition at line 548 of file math3d.h.

template<typename Rot1 , typename Rot2 , typename Rot3 >

void math3d::mult_matrix	(	const Rot1 &	m1,
		const Rot2 &	m2,
		Rot3 &	r
	)

Definition at line 556 of file math3d.h.

template<typename T >

void math3d::mult_matrix_inplace ( const matrix3x3< T > &  m1, const matrix3x3< T > &  m2, matrix3x3< T > &  r  )

inline

Definition at line 522 of file math3d.h.

template<typename T >

void math3d::mult_quaternion ( const quaternion< T > &  a, const quaternion< T > &  b, quaternion< T > &  r  )

inline

Definition at line 785 of file math3d.h.

template<typename T >

T math3d::norm

(

const quaternion< T > &

a

)

Definition at line 656 of file math3d.h.

template<typename T >

double math3d::norm2 ( const T &  v )

inline

Definition at line 1138 of file math3d.h.

template<typename T >

void math3d::normalize ( quaternion< T > &  q )

inline

Definition at line 689 of file math3d.h.

template<typename T >

double math3d::normalize ( vec3d< T > &  p )

inline

Definition at line 1076 of file math3d.h.

template<typename T >

quaternion<T> math3d::operator*	(	const quaternion< T > &	a,
		const quaternion< T > &	b
	)

Definition at line 662 of file math3d.h.

template<typename T >

quaternion<T> math3d::operator+	(	const quaternion< T > &	a,
		const quaternion< T > &	b
	)

Definition at line 642 of file math3d.h.

template<typename T >

quaternion<T> math3d::operator~

(

const quaternion< T > &

a

)

Definition at line 675 of file math3d.h.

template<typename T >

matrix3x3<T> math3d::quaternion_to_rot_matrix

(

const quaternion< T > &

q

)

Definition at line 764 of file math3d.h.

template<typename T >

void math3d::relative_motion	(	const matrix3x3< T > &	Ri,
		const point3d &	Ti,
		const matrix3x3< T > &	Rj,
		const point3d &	Tj,
		matrix3x3< T > &	Rij,
		point3d &	Tij
	)

Computes the rigid motion bringing points expressed in j-coordinates towards the world i, i.e.: Pi = Rij * Pj + Tij

Definition at line 1054 of file math3d.h.

template<typename T >

quaternion<T> math3d::rot_matrix_to_quaternion

(

const matrix3x3< T > &

m

)

Definition at line 711 of file math3d.h.

template<typename T >

void math3d::rotate	(	vec3d< T > &	p,
		const matrix< T > &	rot
	)

Definition at line 922 of file math3d.h.

template<typename T >

void math3d::rotate	(	vec3d< T > &	p,
		const matrix3x3< T > &	rot
	)

Definition at line 934 of file math3d.h.

template<typename T , typename S >

void math3d::rotate	(	vec3d< T > &	p,
		const matrix< S > &	rot
	)

Definition at line 943 of file math3d.h.

template<typename T , typename S >

void math3d::rotate ( vec3d< T > &  p, const matrix3x3< S > &  rot  )

inline

Definition at line 955 of file math3d.h.

template<typename T >

void math3d::rotate ( vec3d< T > &  p, const quaternion< T > &  rot  )

inline

Definition at line 964 of file math3d.h.

template<typename T , typename RotationType >

void math3d::rotate_translate ( vec3d< T > &  v, const RotationType &  rot, const point3d &  trans  )

inline

Definition at line 997 of file math3d.h.

template<typename T >

void math3d::set_identity ( quaternion< T > &  q )

inline

Definition at line 703 of file math3d.h.

template<typename T >

void math3d::set_identity	(	matrix< T > &	m,
		T	val = 1
	)

Definition at line 876 of file math3d.h.

template<typename T >

void math3d::set_identity	(	matrix3x3< T > &	m,
		T	val = 1
	)

Definition at line 901 of file math3d.h.

template<typename T >

double math3d::squared_dist ( const vec3d< T > &  p1, const vec3d< T > &  p2  )

inline

Definition at line 1111 of file math3d.h.

template<typename T >

void math3d::transpose

(

matrix< T > &

m

)

Definition at line 798 of file math3d.h.

template<typename T >

void math3d::transpose ( matrix3x3< T > &  m )

inline

Definition at line 815 of file math3d.h.

template<typename T >

void math3d::transpose	(	const matrix< T > &	src,
		matrix< T > &	dest
	)

Definition at line 844 of file math3d.h.

template<typename T >

void math3d::transpose ( const matrix3x3< T > &  src, matrix3x3< T > &  dest  )

inline

Definition at line 862 of file math3d.h.

Variable Documentation

const double math3d::deg_on_rad = 180. / pi

static

Definition at line 53 of file math3d.h.

const double math3d::pi = M_PI

static

Definition at line 51 of file math3d.h.

const double math3d::rad_on_deg = pi / 180.

static

Definition at line 52 of file math3d.h.