variance3.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_MATH_VARIANCE3_H
39 #define FCL_MATH_VARIANCE3_H
40 
41 #include <cmath>
42 
43 #include "fcl/common/types.h"
44 #include "fcl/math/geometry.h"
45 
46 namespace fcl
47 {
48 
50 template <typename S>
51 class FCL_EXPORT Variance3
52 {
53 public:
56 
59 
62 
63  Variance3();
64 
65  Variance3(const Matrix3<S>& sigma);
66 
68  void init();
69 
73  Variance3<S>& sqrt();
74 };
75 
78 
79 } // namespace fcl
80 
81 #include "fcl/math/variance3-inl.h"
82 
83 #endif
geometry.h
types.h
fcl::Variance3::axis
Matrix3< S > axis
Matrix whose columns are eigenvectors of Sigma.
Definition: variance3.h:61
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Variance3
Class for variance matrix in 3d.
Definition: variance3.h:51
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
variance3-inl.h
fcl::Variance3::sigma
Vector3< S > sigma
Variations along the eign axes.
Definition: variance3.h:58
fcl::Variance3::Sigma
Matrix3< S > Sigma
Variation matrix.
Definition: variance3.h:55
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
Author(s):
autogenerated on Sat Sep 11 2021 02:37:42