pcl::PolynomialCalculationsT< real > Class Template Reference

This provides some functionality for polynomials, like finding roots or approximating bivariate polynomials. More...

#include <polynomial_calculations.h>

List of all members.

Classes
struct	Parameters
	Parameters used in this class. More...
Public Member Functions
BivariatePolynomialT< real >	bivariatePolynomialApproximation (std::vector< Eigen::Matrix< real, 3, 1 > > &samplePoints, unsigned int polynomial_degree, bool &error) const
bool	bivariatePolynomialApproximation (std::vector< Eigen::Matrix< real, 3, 1 > > &samplePoints, unsigned int polynomial_degree, BivariatePolynomialT< real > &ret) const
	Same as above, using a reference for the return value.
	PolynomialCalculationsT ()
void	setZeroValue (real new_zero_value)
	Set the minimum value under which values are considered zero.
void	solveCubicEquation (real a, real b, real c, real d, std::vector< real > &roots) const
void	solveLinearEquation (real a, real b, std::vector< real > &roots) const
void	solveQuadraticEquation (real a, real b, real c, std::vector< real > &roots) const
void	solveQuarticEquation (real a, real b, real c, real d, real e, std::vector< real > &roots) const
	~PolynomialCalculationsT ()
Protected Member Functions
bool	isNearlyZero (real d) const
	check if fabs(d)<zeroValue
bool	sqrtIsNearlyZero (real d) const
	check if sqrt(fabs(d))<zeroValue
Protected Attributes
Parameters	parameters_

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Detailed Description

template<typename real>
class pcl::PolynomialCalculationsT< real >

This provides some functionality for polynomials, like finding roots or approximating bivariate polynomials.

Author:

Bastian Steder

Definition at line 50 of file polynomial_calculations.h.

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Constructor & Destructor Documentation

template<typename real >

pcl::PolynomialCalculationsT< real >::PolynomialCalculationsT

(

)

Definition at line 4 of file polynomial_calculations.hpp.

template<typename real >

pcl::PolynomialCalculationsT< real >::~PolynomialCalculationsT

(

)

Definition at line 11 of file polynomial_calculations.hpp.

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Member Function Documentation

template<typename real >

pcl::BivariatePolynomialT< real > pcl::PolynomialCalculationsT< real >::bivariatePolynomialApproximation	(	std::vector< Eigen::Matrix< real, 3, 1 > > &	samplePoints,
		unsigned int	polynomial_degree,
		bool &	error
	)		const [inline]

Get the bivariate polynomial approximation for Z(X,Y) from the given sample points. The parameters a,b,c,... for the polynom are returned. The order is, e.g., for degree 1: ax+by+c and for degree 2: ax²+bxy+cx+dy²+ey+f. error is set to true if the approximation did not work for any reason (not enough points, matrix not invertible, etc.)

Definition at line 374 of file polynomial_calculations.hpp.

template<typename real >

bool pcl::PolynomialCalculationsT< real >::bivariatePolynomialApproximation	(	std::vector< Eigen::Matrix< real, 3, 1 > > &	samplePoints,
		unsigned int	polynomial_degree,
		pcl::BivariatePolynomialT< real > &	ret
	)		const [inline]

Same as above, using a reference for the return value.

Definition at line 386 of file polynomial_calculations.hpp.

template<typename real>

bool pcl::PolynomialCalculationsT< real >::isNearlyZero

(

real

d

)

const [inline, protected]

check if fabs(d)<zeroValue

Definition at line 112 of file polynomial_calculations.h.

template<typename real>

void pcl::PolynomialCalculationsT< real >::setZeroValue

(

real

new_zero_value

)

[inline]

Set the minimum value under which values are considered zero.

Definition at line 106 of file polynomial_calculations.h.

template<typename real >

void pcl::PolynomialCalculationsT< real >::solveCubicEquation	(	real	a,
		real	b,
		real	c,
		real	d,
		std::vector< real > &	roots
	)		const [inline]

Solves an equation of the form ax^3 + bx^2 + cx + d = 0 See http://en.wikipedia.org/wiki/Cubic_equation

Definition at line 118 of file polynomial_calculations.hpp.

template<typename real >

void pcl::PolynomialCalculationsT< real >::solveLinearEquation	(	real	a,
		real	b,
		std::vector< real > &	roots
	)		const [inline]

Solves an equation of the form ax + b = 0

Definition at line 29 of file polynomial_calculations.hpp.

template<typename real >

void pcl::PolynomialCalculationsT< real >::solveQuadraticEquation	(	real	a,
		real	b,
		real	c,
		std::vector< real > &	roots
	)		const [inline]

Solves an equation of the form ax^2 + bx + c = 0 See http://en.wikipedia.org/wiki/Quadratic_equation

Definition at line 62 of file polynomial_calculations.hpp.

template<typename real >

void pcl::PolynomialCalculationsT< real >::solveQuarticEquation	(	real	a,
		real	b,
		real	c,
		real	d,
		real	e,
		std::vector< real > &	roots
	)		const [inline]

Solves an equation of the form ax^4 + bx^3 + cx^2 +dx + e = 0 See http://en.wikipedia.org/wiki/Quartic_equation#Summary_of_Ferrari.27s_method

Definition at line 220 of file polynomial_calculations.hpp.

template<typename real>

bool pcl::PolynomialCalculationsT< real >::sqrtIsNearlyZero

(

real

d

)

const [inline, protected]

check if sqrt(fabs(d))<zeroValue

Definition at line 119 of file polynomial_calculations.h.

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Member Data Documentation

template<typename real>

Parameters pcl::PolynomialCalculationsT< real >::parameters_ [protected]

Definition at line 125 of file polynomial_calculations.h.

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

• polynomial_calculations.h
• polynomial_calculations.hpp