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 186 of file math3d.h.

typedef vec3d<double> math3d::point3d

Definition at line 187 of file math3d.h.

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

Definition at line 803 of file math3d.h.

---

Function Documentation

template<typename T >

bool math3d::almost_zero	(	T	a,
		double	e
	)		[inline]

Definition at line 55 of file math3d.h.

template<typename T >

void math3d::conjugate

(

quaternion< T > &

q

)

[inline]

Definition at line 590 of file math3d.h.

template<typename T >

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

Definition at line 1026 of file math3d.h.

template<typename T >

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

Definition at line 982 of file math3d.h.

template<typename T >

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

Definition at line 559 of file math3d.h.

template<typename T >

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

Definition at line 999 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 1004 of file math3d.h.

template<typename T >

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

Definition at line 1009 of file math3d.h.

template<typename T >

vec3d<T> math3d::get_normalize

(

const vec3d< T > &

p

)

[inline]

Definition at line 974 of file math3d.h.

template<typename T >

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

Definition at line 855 of file math3d.h.

template<typename T >

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

Definition at line 872 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 888 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 896 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 907 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 913 of file math3d.h.

template<typename T >

matrix3x3<T> math3d::get_transpose

(

const matrix3x3< T > &

m

)

[inline]

Definition at line 731 of file math3d.h.

template<typename T >

matrix3x3<T> math3d::identity3x3

(

)

[inline]

Definition at line 454 of file math3d.h.

template<typename R , typename T >

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

Inverts a rigid motion.

Definition at line 923 of file math3d.h.

template<typename T >

double math3d::magnitude

(

const T &

p

)

[inline]

Definition at line 1020 of file math3d.h.

template<typename Iterator >

double math3d::median	(	Iterator	start,
		Iterator	end
	)		[inline]

Definition at line 1037 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 483 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 491 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 463 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 694 of file math3d.h.

template<typename T >

T math3d::norm

(

const quaternion< T > &

a

)

Definition at line 565 of file math3d.h.

template<typename T >

double math3d::norm2

(

const T &

v

)

[inline]

Definition at line 1014 of file math3d.h.

template<typename T >

void math3d::normalize

(

quaternion< T > &

q

)

[inline]

Definition at line 598 of file math3d.h.

template<typename T >

double math3d::normalize

(

vec3d< T > &

p

)

[inline]

Definition at line 957 of file math3d.h.

template<typename T >

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

Definition at line 571 of file math3d.h.

template<typename T >

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

Definition at line 551 of file math3d.h.

template<typename T >

quaternion<T> math3d::operator~

(

const quaternion< T > &

a

)

Definition at line 584 of file math3d.h.

template<typename T >

matrix3x3<T> math3d::quaternion_to_rot_matrix

(

const quaternion< T > &

q

)

Definition at line 673 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 936 of file math3d.h.

template<typename T >

quaternion<T> math3d::rot_matrix_to_quaternion

(

const matrix3x3< T > &

m

)

Definition at line 620 of file math3d.h.

template<typename T >

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

Definition at line 806 of file math3d.h.

template<typename T >

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

Definition at line 818 of file math3d.h.

template<typename T , typename S >

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

Definition at line 827 of file math3d.h.

template<typename T , typename S >

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

Definition at line 839 of file math3d.h.

template<typename T >

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

Definition at line 848 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 881 of file math3d.h.

template<typename T >

void math3d::set_identity

(

quaternion< T > &

q

)

[inline]

Definition at line 612 of file math3d.h.

template<typename T >

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

Definition at line 767 of file math3d.h.

template<typename T >

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

Definition at line 791 of file math3d.h.

template<typename T >

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

Definition at line 990 of file math3d.h.

template<typename T >

void math3d::transpose

(

matrix< T > &

m

)

Definition at line 707 of file math3d.h.

template<typename T >

void math3d::transpose

(

matrix3x3< T > &

m

)

[inline]

Definition at line 722 of file math3d.h.

template<typename T >

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

Definition at line 742 of file math3d.h.

template<typename T >

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

Definition at line 758 of file math3d.h.

---

Variable Documentation

const double math3d::deg_on_rad = 180. / pi [static]

Definition at line 52 of file math3d.h.

const double math3d::pi = M_PI [static]

Definition at line 50 of file math3d.h.

const double math3d::rad_on_deg = pi / 180. [static]

Definition at line 51 of file math3d.h.