rpp Namespace Reference

Classes
struct	mat33_t
struct	options_t
struct	pose_t
struct	quat_t
struct	vec3_t
Typedefs
typedef real_t	mat33 [3][3]
typedef std::vector< mat33_t >	mat33_array
typedef std::vector< mat33_t > ::const_iterator	mat33_array_const_iter
typedef std::vector< mat33_t > ::iterator	mat33_array_iter
typedef std::vector< pose_t >	pose_vec
typedef double	real_t
typedef std::vector< real_t >	scalar_array
typedef double	SVD_FLOAT
typedef real_t	vec3 [3]
typedef std::vector< vec3_t >	vec3_array
typedef std::vector< vec3_t > ::const_iterator	vec3_array_const_iter
typedef std::vector< vec3_t > ::iterator	vec3_array_iter
Functions
real_t	_abs (real_t a)
real_t	_acos (real_t a)
real_t	_atan2 (real_t a, real_t b)
real_t	_cos (real_t a)
bool	_dbg_load_vec3_array (vec3_array &va, char *filename)
void	_dbg_mat33_array_print (const mat33_array &m, char *name)
void	_dbg_mat33_fprint (void *fp, const mat33_t &m, char *name)
void	_dbg_mat33_print (const mat33_t &m, char *name)
void	_dbg_quat_print (const quat_t &q, char *name)
void	_dbg_scalar_array_print (const scalar_array &sa, char *name)
void	_dbg_vec3_array_print (const vec3_array &v, char *name)
void	_dbg_vec3_fprint (void *fp, const vec3_t &v, char *name)
void	_dbg_vec3_print (const vec3_t &v, char *name)
real_t	_pow (real_t a)
real_t	_pow (real_t a, real_t b)
real_t	_sin (real_t a)
real_t	_sqrt (real_t a)
void	abskernel (mat33_t &R, vec3_t &t, vec3_array &Qout, real_t &err2, const vec3_array _P, const vec3_array _Q, const mat33_array F, const mat33_t G)
double	CBRT (double)
int	cubic (double[], double[], int *)
int	cubic (double A[4], double X[3], int *L)
void	decomposeR (mat33_t &Rz, const mat33_t &R)
void	free_double_pptr (double ***m_ptr)
void	free_double_ptr (double **v_ptr)
void	free_float_pptr (float ***m_ptr)
void	free_float_ptr (float **v_ptr)
void	get2ndPose_Exact (pose_vec &sol, const vec3_array &v, const vec3_array &P, const mat33_t R, const vec3_t t, const real_t DB)
void	getRfor2ndPose_V_Exact (pose_vec &sol, const vec3_array &v, const vec3_array &P, const mat33_t R, const vec3_t t, const real_t DB)
void	GetRotationbyVector (mat33_t &R, const vec3_t &v1, const vec3_t &v2)
void	getRotationY_wrtT (scalar_array &al_ret, vec3_array &tnew, const vec3_array &v, const vec3_array &p, const vec3_t &t, const real_t &DB, const mat33_t &Rz)
void	mat33_add (mat33_t &mr, const mat33_t &ma, const mat33_t &mb)
void	mat33_add (mat33_t &ma, const mat33_t &mb)
bool	mat33_all_zeros (const mat33_t &m)
void	mat33_array_sum (mat33_t &s, const mat33_array &ma)
void	mat33_assign (mat33_t &m, const real_t m00, const real_t m01, const real_t m02, const real_t m10, const real_t m11, const real_t m12, const real_t m20, const real_t m21, const real_t m22)
void	mat33_clear (mat33_t &m)
void	mat33_copy (mat33_t &md, const mat33_t &ms)
real_t	mat33_det (const mat33_t &a)
void	mat33_div (mat33_t &m, const real_t f)
void	mat33_eye (mat33_t &m)
void	mat33_from_double_pptr (mat33_t &mat, double **m_ptr)
void	mat33_from_float_pptr (mat33_t &mat, float **m_ptr)
void	mat33_from_quat (mat33_t &m, const quat_t &q)
void	mat33_inv (mat33_t &mi, const mat33_t &ma)
void	mat33_mult (mat33_t &m0, const mat33_t &m1, const mat33_t &m2)
void	mat33_mult (mat33_t &mr, const real_t n)
void	mat33_pow2 (mat33_t &m)
void	mat33_set_all_zeros (mat33_t &m)
void	mat33_sub (mat33_t &mr, const mat33_t &ma, const mat33_t &mb)
void	mat33_sub (mat33_t &ma, const mat33_t &mb)
real_t	mat33_sum (const mat33_t &m)
void	mat33_svd2 (mat33_t &u, mat33_t &s, mat33_t &v, const mat33_t &m)
void	mat33_to_col_vec3 (vec3_t &c0, vec3_t &c1, vec3_t &c2, const mat33_t &m)
double **	mat33_to_double_pptr (const mat33_t &mat)
float **	mat33_to_float_pptr (const mat33_t &mat)
void	mat33_transpose (mat33_t &t, const mat33_t m)
void	normRv (vec3_t &n, const vec3_t &v)
void	normRv (vec3_array &normR_v, const vec3_array &v)
void	objpose (mat33_t &R, vec3_t &t, unsigned int &it, real_t &obj_err, real_t &img_err, bool calc_img_err, const vec3_array _P, const vec3_array Qp, const options_t options)
int	quartic (double[], double[], double[], int *)
int	quartic (double dd[5], double sol[4], double soli[4], int *Nsol)
void	quat_mult (quat_t &q, const real_t s)
real_t	quat_norm (const quat_t &q)
void	Quaternion_byAngleAndVector (quat_t &Q, const real_t &q_angle, const vec3_t &q_vector)
int	quintic (double[], double[], double[], int *, double)
void	robust_pose (real_t &err, mat33_t &R, vec3_t &t, const vec3_array &_model, const vec3_array &_iprts, const options_t _options)
void	rpyAng (vec3_t &angs, const mat33_t &R)
void	rpyAng_X (vec3_t &ang_zyx, const mat33_t &R)
void	rpyMat (mat33_t &R, const vec3_t &rpy)
void	scalar_array_add (scalar_array &sa, const scalar_array &sb)
void	scalar_array_add (scalar_array &sa, real_t f)
void	scalar_array_assign (scalar_array &sa, const real_t f, const unsigned int sz)
void	scalar_array_atan2 (scalar_array &sa, const scalar_array &sb, const scalar_array &sc)
void	scalar_array_clear (scalar_array &sa)
void	scalar_array_div (scalar_array &sa, real_t f)
void	scalar_array_div (scalar_array &sa, const scalar_array &sb)
void	scalar_array_mult (scalar_array &sa, real_t f)
void	scalar_array_negate (scalar_array &sa)
void	scalar_array_pow (scalar_array &sa, const real_t f)
void	scalar_array_sub (scalar_array &sa, real_t f)
int	signR (double)
int	solve_polynomial (scalar_array &sol, const scalar_array &coefficients)
int	svdcmp (double **a, int m, int n, double *w, double **v)
void	vec3_add (vec3_t &va, const real_t f)
void	vec3_add (vec3_t &va, const vec3_t &vb)
void	vec3_add (vec3_t &va, const vec3_t &vb, const vec3_t &vc)
void	vec3_array_add (vec3_array &va, const vec3_t &a)
void	vec3_array_mean (vec3_t &v_mean, const vec3_array &va)
void	vec3_array_mult (vec3_array &va, const scalar_array &c)
void	vec3_array_mult (vec3_array &va, const mat33_t &m, const vec3_array &vb)
void	vec3_array_pow2 (vec3_array &va)
void	vec3_array_set (vec3_array &va, const vec3_t &a, const bool mask[3])
void	vec3_array_sub (vec3_array &va, const vec3_t &a)
void	vec3_array_sum (vec3_t &v_sum2, const vec3_array &va)
void	vec3_array_sum (scalar_array &v_sum1, const vec3_array &va)
void	vec3_assign (vec3_t &v, const real_t x, const real_t y, const real_t z)
void	vec3_clear (vec3_t &v)
void	vec3_copy (vec3_t &a, const vec3_t &b)
void	vec3_cross (vec3_t &va, const vec3_t &vb, const vec3_t &vc)
void	vec3_div (vec3_t &va, const real_t n)
void	vec3_div (vec3_t &va, const vec3_t &vb)
real_t	vec3_dot (const vec3_t &va, const vec3_t &vb)
void	vec3_from_double_ptr (vec3_t &vec, double *v_ptr)
void	vec3_from_float_ptr (vec3_t &vec, float *v_ptr)
void	vec3_mul_vec3trans (mat33_t &m, const vec3_t &va, const vec3_t &vb)
void	vec3_mult (vec3_t &va, const real_t n)
void	vec3_mult (vec3_t &va, const vec3_t &vb)
void	vec3_mult (vec3_t &v0, const mat33_t &m1, const vec3_t &v2)
real_t	vec3_norm (const vec3_t &v)
void	vec3_sub (vec3_t &va, const real_t f)
void	vec3_sub (vec3_t &va, const vec3_t &vb)
void	vec3_sub (vec3_t &va, const vec3_t &vb, const vec3_t &vc)
real_t	vec3_sum (const vec3_t &v)
double *	vec3_to_double_ptr (const vec3_t &vec)
float *	vec3_to_float_ptr (const vec3_t &vec)
real_t	vec3trans_mul_vec3 (const vec3_t &va, const vec3_t &vb)
void	xform (vec3_array &Q, const vec3_array &P, const mat33_t &R, const vec3_t &t)
void	xformproj (vec3_array &Qp, const vec3_array &P, const mat33_t &R, const vec3_t &t)
Variables
static SVD_FLOAT	at
static SVD_FLOAT	bt
static SVD_FLOAT	ct
static SVD_FLOAT	maxarg1
static SVD_FLOAT	maxarg2

---

Typedef Documentation

typedef real_t rpp::mat33[3][3]

Definition at line 75 of file rpp_types.h.

typedef std::vector<mat33_t> rpp::mat33_array

Definition at line 77 of file rpp_types.h.

typedef std::vector<mat33_t>::const_iterator rpp::mat33_array_const_iter

Definition at line 79 of file rpp_types.h.

typedef std::vector<mat33_t>::iterator rpp::mat33_array_iter

Definition at line 78 of file rpp_types.h.

typedef std::vector<pose_t> rpp::pose_vec

Definition at line 95 of file rpp_types.h.

typedef double rpp::real_t

Definition at line 64 of file rpp_types.h.

typedef std::vector<real_t> rpp::scalar_array

Definition at line 81 of file rpp_types.h.

typedef double rpp::SVD_FLOAT

Definition at line 47 of file rpp_svd.cpp.

typedef real_t rpp::vec3[3]

Definition at line 69 of file rpp_types.h.

typedef std::vector<vec3_t> rpp::vec3_array

Definition at line 71 of file rpp_types.h.

typedef std::vector<vec3_t>::const_iterator rpp::vec3_array_const_iter

Definition at line 73 of file rpp_types.h.

typedef std::vector<vec3_t>::iterator rpp::vec3_array_iter

Definition at line 72 of file rpp_types.h.

---

Function Documentation

real_t rpp::_abs

(

real_t

a

)

Definition at line 73 of file rpp_vecmat.cpp.

real_t rpp::_acos

(

real_t

a

)

Definition at line 74 of file rpp_vecmat.cpp.

real_t rpp::_atan2	(	real_t	a,
		real_t	b
	)

Definition at line 72 of file rpp_vecmat.cpp.

real_t rpp::_cos

(

real_t

a

)

Definition at line 71 of file rpp_vecmat.cpp.

bool rpp::_dbg_load_vec3_array	(	vec3_array &	va,
		char *	filename
	)

Definition at line 266 of file rpp_vecmat.cpp.

void rpp::_dbg_mat33_array_print	(	const mat33_array &	m,
		char *	name
	)

Definition at line 222 of file rpp_vecmat.cpp.

void rpp::_dbg_mat33_fprint	(	void *	fp,
		const mat33_t &	m,
		char *	name
	)

Definition at line 955 of file rpp_vecmat.cpp.

void rpp::_dbg_mat33_print	(	const mat33_t &	m,
		char *	name
	)

Definition at line 207 of file rpp_vecmat.cpp.

void rpp::_dbg_quat_print	(	const quat_t &	q,
		char *	name
	)

Definition at line 196 of file rpp_vecmat.cpp.

void rpp::_dbg_scalar_array_print	(	const scalar_array &	sa,
		char *	name
	)

Definition at line 890 of file rpp_vecmat.cpp.

void rpp::_dbg_vec3_array_print	(	const vec3_array &	v,
		char *	name
	)

Definition at line 251 of file rpp_vecmat.cpp.

void rpp::_dbg_vec3_fprint	(	void *	fp,
		const vec3_t &	v,
		char *	name
	)

Definition at line 945 of file rpp_vecmat.cpp.

void rpp::_dbg_vec3_print	(	const vec3_t &	v,
		char *	name
	)

Definition at line 240 of file rpp_vecmat.cpp.

real_t rpp::_pow

(

real_t

a

)

real_t rpp::_pow	(	real_t	a,
		real_t	b
	)

Definition at line 76 of file rpp_vecmat.cpp.

real_t rpp::_sin

(

real_t

a

)

Definition at line 70 of file rpp_vecmat.cpp.

real_t rpp::_sqrt

(

real_t

a

)

Definition at line 75 of file rpp_vecmat.cpp.

void rpp::abskernel	(	mat33_t &	R,
		vec3_t &	t,
		vec3_array &	Qout,
		real_t &	err2,
		const vec3_array	_P,
		const vec3_array	_Q,
		const mat33_array	F,
		const mat33_t	G
	)

Definition at line 192 of file rpp.cpp.

double rpp::CBRT

(

double

Z

)

Definition at line 357 of file rpp_quintic.cpp.

int rpp::cubic	(	double	[],
		double	[],
		int *
	)

int rpp::cubic	(	double	A[4],
		double	X[3],
		int *	L
	)

Definition at line 265 of file rpp_quintic.cpp.

void rpp::decomposeR	(	mat33_t &	Rz,
		const mat33_t &	R
	)

Definition at line 183 of file rpp.cpp.

void rpp::free_double_pptr

(

double ***

m_ptr

)

Definition at line 128 of file rpp_vecmat.cpp.

void rpp::free_double_ptr

(

double **

v_ptr

)

Definition at line 173 of file rpp_vecmat.cpp.

void rpp::free_float_pptr

(

float ***

m_ptr

)

Definition at line 134 of file rpp_vecmat.cpp.

void rpp::free_float_ptr

(

float **

v_ptr

)

Definition at line 178 of file rpp_vecmat.cpp.

void rpp::get2ndPose_Exact	(	pose_vec &	sol,
		const vec3_array &	v,
		const vec3_array &	P,
		const mat33_t	R,
		const vec3_t	t,
		const real_t	DB
	)

Definition at line 704 of file rpp.cpp.

void rpp::getRfor2ndPose_V_Exact	(	pose_vec &	sol,
		const vec3_array &	v,
		const vec3_array &	P,
		const mat33_t	R,
		const vec3_t	t,
		const real_t	DB
	)

Definition at line 639 of file rpp.cpp.

void rpp::GetRotationbyVector	(	mat33_t &	R,
		const vec3_t &	v1,
		const vec3_t &	v2
	)

Definition at line 71 of file rpp.cpp.

void rpp::getRotationY_wrtT	(	scalar_array &	al_ret,
		vec3_array &	tnew,
		const vec3_array &	v,
		const vec3_array &	p,
		const vec3_t &	t,
		const real_t &	DB,
		const mat33_t &	Rz
	)

Definition at line 397 of file rpp.cpp.

void rpp::mat33_add	(	mat33_t &	mr,
		const mat33_t &	ma,
		const mat33_t &	mb
	)

Definition at line 640 of file rpp_vecmat.cpp.

void rpp::mat33_add	(	mat33_t &	ma,
		const mat33_t &	mb
	)

Definition at line 649 of file rpp_vecmat.cpp.

bool rpp::mat33_all_zeros

(

const mat33_t &

m

)

Definition at line 586 of file rpp_vecmat.cpp.

void rpp::mat33_array_sum	(	mat33_t &	s,
		const mat33_array &	ma
	)

Definition at line 606 of file rpp_vecmat.cpp.

void rpp::mat33_assign	(	mat33_t &	m,
		const real_t	m00,
		const real_t	m01,
		const real_t	m02,
		const real_t	m10,
		const real_t	m11,
		const real_t	m12,
		const real_t	m20,
		const real_t	m21,
		const real_t	m22
	)

Definition at line 185 of file rpp_vecmat.cpp.

void rpp::mat33_clear

(

mat33_t &

m

)

Definition at line 518 of file rpp_vecmat.cpp.

void rpp::mat33_copy	(	mat33_t &	md,
		const mat33_t &	ms
	)

Definition at line 527 of file rpp_vecmat.cpp.

real_t rpp::mat33_det

(

const mat33_t &

a

)

Definition at line 659 of file rpp_vecmat.cpp.

void rpp::mat33_div	(	mat33_t &	m,
		const real_t	f
	)

Definition at line 548 of file rpp_vecmat.cpp.

void rpp::mat33_eye

(

mat33_t &

m

)

Definition at line 561 of file rpp_vecmat.cpp.

void rpp::mat33_from_double_pptr	(	mat33_t &	mat,
		double **	m_ptr
	)

Definition at line 90 of file rpp_vecmat.cpp.

void rpp::mat33_from_float_pptr	(	mat33_t &	mat,
		float **	m_ptr
	)

Definition at line 98 of file rpp_vecmat.cpp.

void rpp::mat33_from_quat	(	mat33_t &	m,
		const quat_t &	q
	)

Definition at line 773 of file rpp_vecmat.cpp.

void rpp::mat33_inv	(	mat33_t &	mi,
		const mat33_t &	ma
	)

Definition at line 667 of file rpp_vecmat.cpp.

void rpp::mat33_mult	(	mat33_t &	m0,
		const mat33_t &	m1,
		const mat33_t &	m2
	)

Definition at line 683 of file rpp_vecmat.cpp.

void rpp::mat33_mult	(	mat33_t &	mr,
		const real_t	n
	)

Definition at line 696 of file rpp_vecmat.cpp.

void rpp::mat33_pow2

(

mat33_t &

m

)

Definition at line 935 of file rpp_vecmat.cpp.

void rpp::mat33_set_all_zeros

(

mat33_t &

m

)

Definition at line 596 of file rpp_vecmat.cpp.

void rpp::mat33_sub	(	mat33_t &	mr,
		const mat33_t &	ma,
		const mat33_t &	mb
	)

Definition at line 622 of file rpp_vecmat.cpp.

void rpp::mat33_sub	(	mat33_t &	ma,
		const mat33_t &	mb
	)

Definition at line 631 of file rpp_vecmat.cpp.

real_t rpp::mat33_sum

(

const mat33_t &

m

)

Definition at line 574 of file rpp_vecmat.cpp.

void rpp::mat33_svd2	(	mat33_t &	u,
		mat33_t &	s,
		mat33_t &	v,
		const mat33_t &	m
	)

Definition at line 732 of file rpp_vecmat.cpp.

void rpp::mat33_to_col_vec3	(	vec3_t &	c0,
		vec3_t &	c1,
		vec3_t &	c2,
		const mat33_t &	m
	)

Definition at line 537 of file rpp_vecmat.cpp.

double ** rpp::mat33_to_double_pptr

(

const mat33_t &

mat

)

Definition at line 106 of file rpp_vecmat.cpp.

float** rpp::mat33_to_float_pptr

(

const mat33_t &

mat

)

Definition at line 117 of file rpp_vecmat.cpp.

void rpp::mat33_transpose	(	mat33_t &	t,
		const mat33_t	m
	)

Definition at line 706 of file rpp_vecmat.cpp.

void rpp::normRv	(	vec3_t &	n,
		const vec3_t &	v
	)

Definition at line 794 of file rpp_vecmat.cpp.

void rpp::normRv	(	vec3_array &	normR_v,
		const vec3_array &	v
	)

Definition at line 805 of file rpp_vecmat.cpp.

void rpp::objpose	(	mat33_t &	R,
		vec3_t &	t,
		unsigned int &	it,
		real_t &	obj_err,
		real_t &	img_err,
		bool	calc_img_err,
		const vec3_array	_P,
		const vec3_array	Qp,
		const options_t	options
	)

Definition at line 266 of file rpp.cpp.

int rpp::quartic	(	double	[],
		double	[],
		double	[],
		int *
	)

int rpp::quartic	(	double	dd[5],
		double	sol[4],
		double	soli[4],
		int *	Nsol
	)

Definition at line 153 of file rpp_quintic.cpp.

void rpp::quat_mult	(	quat_t &	q,
		const real_t	s
	)

Definition at line 760 of file rpp_vecmat.cpp.

real_t rpp::quat_norm

(

const quat_t &

q

)

Definition at line 766 of file rpp_vecmat.cpp.

void rpp::Quaternion_byAngleAndVector	(	quat_t &	Q,
		const real_t &	q_angle,
		const vec3_t &	q_vector
	)

Definition at line 58 of file rpp.cpp.

int rpp::quintic	(	double	[],
		double	[],
		double	[],
		int *	,
		double
	)

void rpp::robust_pose	(	real_t &	err,
		mat33_t &	R,
		vec3_t &	t,
		const vec3_array &	_model,
		const vec3_array &	_iprts,
		const options_t	_options
	)

Definition at line 741 of file rpp.cpp.

void rpp::rpyAng	(	vec3_t &	angs,
		const mat33_t &	R
	)

Definition at line 134 of file rpp.cpp.

void rpp::rpyAng_X	(	vec3_t &	ang_zyx,
		const mat33_t &	R
	)

Definition at line 157 of file rpp.cpp.

void rpp::rpyMat	(	mat33_t &	R,
		const vec3_t &	rpy
	)

Definition at line 110 of file rpp.cpp.

void rpp::scalar_array_add	(	scalar_array &	sa,
		const scalar_array &	sb
	)

Definition at line 867 of file rpp_vecmat.cpp.

void rpp::scalar_array_add	(	scalar_array &	sa,
		real_t	f
	)

Definition at line 919 of file rpp_vecmat.cpp.

void rpp::scalar_array_assign	(	scalar_array &	sa,
		const real_t	f,
		const unsigned int	sz
	)

Definition at line 857 of file rpp_vecmat.cpp.

void rpp::scalar_array_atan2	(	scalar_array &	sa,
		const scalar_array &	sb,
		const scalar_array &	sc
	)

Definition at line 879 of file rpp_vecmat.cpp.

void rpp::scalar_array_clear

(

scalar_array &

sa

)

Definition at line 874 of file rpp_vecmat.cpp.

void rpp::scalar_array_div	(	scalar_array &	sa,
		real_t	f
	)

Definition at line 896 of file rpp_vecmat.cpp.

void rpp::scalar_array_div	(	scalar_array &	sa,
		const scalar_array &	sb
	)

Definition at line 904 of file rpp_vecmat.cpp.

void rpp::scalar_array_mult	(	scalar_array &	sa,
		real_t	f
	)

Definition at line 911 of file rpp_vecmat.cpp.

void rpp::scalar_array_negate

(

scalar_array &

sa

)

Definition at line 852 of file rpp_vecmat.cpp.

void rpp::scalar_array_pow	(	scalar_array &	sa,
		const real_t	f
	)

Definition at line 847 of file rpp_vecmat.cpp.

void rpp::scalar_array_sub	(	scalar_array &	sa,
		real_t	f
	)

Definition at line 927 of file rpp_vecmat.cpp.

int rpp::signR

(

double

Z

)

Definition at line 347 of file rpp_quintic.cpp.

int rpp::solve_polynomial	(	scalar_array &	sol,
		const scalar_array &	coefficients
	)

Definition at line 823 of file rpp_vecmat.cpp.

int rpp::svdcmp	(	double **	a,
		int	m,
		int	n,
		double *	w,
		double **	v
	)

Definition at line 61 of file rpp_svd.cpp.

void rpp::vec3_add	(	vec3_t &	va,
		const real_t	f
	)

Definition at line 383 of file rpp_vecmat.cpp.

void rpp::vec3_add	(	vec3_t &	va,
		const vec3_t &	vb
	)

Definition at line 390 of file rpp_vecmat.cpp.

void rpp::vec3_add	(	vec3_t &	va,
		const vec3_t &	vb,
		const vec3_t &	vc
	)

Definition at line 397 of file rpp_vecmat.cpp.

void rpp::vec3_array_add	(	vec3_array &	va,
		const vec3_t &	a
	)

Definition at line 447 of file rpp_vecmat.cpp.

void rpp::vec3_array_mean	(	vec3_t &	v_mean,
		const vec3_array &	va
	)

Definition at line 491 of file rpp_vecmat.cpp.

void rpp::vec3_array_mult	(	vec3_array &	va,
		const scalar_array &	c
	)

Definition at line 480 of file rpp_vecmat.cpp.

void rpp::vec3_array_mult	(	vec3_array &	va,
		const mat33_t &	m,
		const vec3_array &	vb
	)

Definition at line 722 of file rpp_vecmat.cpp.

void rpp::vec3_array_pow2

(

vec3_array &

va

)

Definition at line 341 of file rpp_vecmat.cpp.

void rpp::vec3_array_set	(	vec3_array &	va,
		const vec3_t &	a,
		const bool	mask[3]
	)

Definition at line 469 of file rpp_vecmat.cpp.

void rpp::vec3_array_sub	(	vec3_array &	va,
		const vec3_t &	a
	)

Definition at line 458 of file rpp_vecmat.cpp.

void rpp::vec3_array_sum	(	vec3_t &	v_sum2,
		const vec3_array &	va
	)

Definition at line 320 of file rpp_vecmat.cpp.

void rpp::vec3_array_sum	(	scalar_array &	v_sum1,
		const vec3_array &	va
	)

Definition at line 332 of file rpp_vecmat.cpp.

void rpp::vec3_assign	(	vec3_t &	v,
		const real_t	x,
		const real_t	y,
		const real_t	z
	)

Definition at line 298 of file rpp_vecmat.cpp.

void rpp::vec3_clear

(

vec3_t &

v

)

Definition at line 305 of file rpp_vecmat.cpp.

void rpp::vec3_copy	(	vec3_t &	a,
		const vec3_t &	b
	)

Definition at line 312 of file rpp_vecmat.cpp.

void rpp::vec3_cross	(	vec3_t &	va,
		const vec3_t &	vb,
		const vec3_t &	vc
	)

Definition at line 430 of file rpp_vecmat.cpp.

void rpp::vec3_div	(	vec3_t &	va,
		const real_t	n
	)

Definition at line 355 of file rpp_vecmat.cpp.

void rpp::vec3_div	(	vec3_t &	va,
		const vec3_t &	vb
	)

Definition at line 362 of file rpp_vecmat.cpp.

real_t rpp::vec3_dot	(	const vec3_t &	va,
		const vec3_t &	vb
	)

Definition at line 425 of file rpp_vecmat.cpp.

void rpp::vec3_from_double_ptr	(	vec3_t &	vec,
		double *	v_ptr
	)

Definition at line 140 of file rpp_vecmat.cpp.

void rpp::vec3_from_float_ptr	(	vec3_t &	vec,
		float *	v_ptr
	)

Definition at line 147 of file rpp_vecmat.cpp.

void rpp::vec3_mul_vec3trans	(	mat33_t &	m,
		const vec3_t &	va,
		const vec3_t &	vb
	)

Definition at line 499 of file rpp_vecmat.cpp.

void rpp::vec3_mult	(	vec3_t &	va,
		const real_t	n
	)

Definition at line 369 of file rpp_vecmat.cpp.

void rpp::vec3_mult	(	vec3_t &	va,
		const vec3_t &	vb
	)

Definition at line 376 of file rpp_vecmat.cpp.

void rpp::vec3_mult	(	vec3_t &	v0,
		const mat33_t &	m1,
		const vec3_t &	v2
	)

Definition at line 715 of file rpp_vecmat.cpp.

real_t rpp::vec3_norm

(

const vec3_t &

v

)

Definition at line 437 of file rpp_vecmat.cpp.

void rpp::vec3_sub	(	vec3_t &	va,
		const real_t	f
	)

Definition at line 404 of file rpp_vecmat.cpp.

void rpp::vec3_sub	(	vec3_t &	va,
		const vec3_t &	vb
	)

Definition at line 411 of file rpp_vecmat.cpp.

void rpp::vec3_sub	(	vec3_t &	va,
		const vec3_t &	vb,
		const vec3_t &	vc
	)

Definition at line 418 of file rpp_vecmat.cpp.

real_t rpp::vec3_sum

(

const vec3_t &

v

)

Definition at line 442 of file rpp_vecmat.cpp.

double * rpp::vec3_to_double_ptr

(

const vec3_t &

vec

)

Definition at line 154 of file rpp_vecmat.cpp.

float* rpp::vec3_to_float_ptr

(

const vec3_t &

vec

)

Definition at line 163 of file rpp_vecmat.cpp.

real_t rpp::vec3trans_mul_vec3	(	const vec3_t &	va,
		const vec3_t &	vb
	)

Definition at line 512 of file rpp_vecmat.cpp.

void rpp::xform	(	vec3_array &	Q,
		const vec3_array &	P,
		const mat33_t &	R,
		const vec3_t &	t
	)

Definition at line 82 of file rpp.cpp.

void rpp::xformproj	(	vec3_array &	Qp,
		const vec3_array &	P,
		const mat33_t &	R,
		const vec3_t &	t
	)

Definition at line 93 of file rpp.cpp.

---

Variable Documentation

SVD_FLOAT rpp::at [static]

Definition at line 50 of file rpp_svd.cpp.

SVD_FLOAT rpp::bt [static]

Definition at line 50 of file rpp_svd.cpp.

SVD_FLOAT rpp::ct [static]

Definition at line 50 of file rpp_svd.cpp.

SVD_FLOAT rpp::maxarg1 [static]

Definition at line 51 of file rpp_svd.cpp.

SVD_FLOAT rpp::maxarg2 [static]

Definition at line 51 of file rpp_svd.cpp.