variance3-inl.h
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35 
38 #ifndef FCL_MATH_VARIANCE3_INL_H
39 #define FCL_MATH_VARIANCE3_INL_H
40 
41 #include "fcl/math/variance3.h"
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class FCL_EXPORT Variance3<double>;
49 
50 //==============================================================================
51 template <typename S>
53 {
54  // Do nothing
55 }
56 
57 //==============================================================================
58 template <typename S>
59 Variance3<S>::Variance3(const Matrix3<S>& sigma) : Sigma(sigma)
60 {
61  init();
62 }
63 
64 //==============================================================================
65 template <typename S>
67 {
68  eigen_old(Sigma, sigma, axis);
69 }
70 
71 //==============================================================================
72 template <typename S>
74 {
75  for(std::size_t i = 0; i < 3; ++i)
76  {
77  if(sigma[i] < 0)
78  sigma[i] = 0;
79 
80  sigma[i] = std::sqrt(sigma[i]);
81  }
82 
83  Sigma.noalias()
84  = sigma[0] * axis.col(0) * axis.col(0).transpose();
85  Sigma.noalias()
86  += sigma[1] * axis.col(1) * axis.col(1).transpose();
87  Sigma.noalias()
88  += sigma[2] * axis.col(2) * axis.col(2).transpose();
89 
90  return *this;
91 }
92 
93 } // namespace fcl
94 
95 #endif
fcl::Variance3< double >
template class FCL_EXPORT Variance3< double >
fcl::Variance3
Class for variance matrix in 3d.
Definition: variance3.h:51
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::Variance3::Variance3
Variance3()
Definition: variance3-inl.h:52
variance3.h
fcl::eigen_old
template void eigen_old(const Matrix3d &m, Vector3d &dout, Matrix3d &vout)
fcl::Variance3::sqrt
Variance3< S > & sqrt()
Compute the sqrt of Sigma matrix based on the eigen decomposition result, this is useful when the unc...
Definition: variance3-inl.h:73
fcl::Variance3::init
void init()
init the Variance
Definition: variance3-inl.h:66
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Sat Sep 11 2021 02:37:42