#include <surface.h>
Inheritance diagram for Slam_Surface::PolynomialSurface:
Classes | |
| struct | MyFunctor |
Public Member Functions | |
| virtual float | area () const |
| calc approx. area | |
| virtual bool | fitsCurvature (const Surface &o, const float thr) const |
| check form against | |
| virtual const char * | getName () const |
| virtual int | getSurfaceType () const |
| get implementation details | |
| virtual void | init (const boost::array< float, 6 > ¶ms, const float min_x, const float max_x, const float min_y, const float max_y, const float weight) |
| init with 6 parameters | |
| virtual float | merge (const Surface &o, const float this_w, const float o_w, const SWINDOW &wind_t, const SWINDOW &wind_o) |
| merge parameters | |
| virtual Eigen::Vector2f | nextPoint (const Eigen::Vector3f &v) const |
| find nearest point to manifold (Newton) | |
| virtual Eigen::Vector3f | normalAt (const Eigen::Vector2f &v) const |
| get normal at 2D point | |
| virtual Eigen::Vector3f | normalAt2 (const Eigen::Vector2f &v) const |
| get normal (2nd derivate) at 2D point | |
| virtual Eigen::Vector3f | project2world (const Eigen::Vector2f &pt) const |
| project a 2D point to 3D | |
| virtual void | transform (const Eigen::Matrix3f &rot, const Eigen::Vector3f &tr) |
| transform basis | |
Private Member Functions | |
| Eigen::Vector2f | _nextPoint (const Eigen::Vector3f &v, Eigen::Vector3f p, const int depth=0) const |
| find nearest point to manifold (LM) | |
Private Attributes | |
| Eigen::Matrix3f | param_ |
| Eigen::Matrix< float, 3, 2 > | proj2plane_ |
Detailed Description
Member Function Documentation
| Eigen::Vector2f Slam_Surface::PolynomialSurface::_nextPoint | ( | const Eigen::Vector3f & | v, |
| Eigen::Vector3f | p, | ||
| const int | depth = 0 |
||
| ) | const [private] |
find nearest point to manifold (LM)
Definition at line 93 of file surface.hpp.
| virtual float Slam_Surface::PolynomialSurface::area | ( | ) | const [inline, virtual] |
| bool Slam_Surface::PolynomialSurface::fitsCurvature | ( | const Surface & | o, |
| const float | thr | ||
| ) | const [virtual] |
| virtual const char* Slam_Surface::PolynomialSurface::getName | ( | void | ) | const [inline, virtual] |
Implements Slam_Surface::Surface.
| virtual int Slam_Surface::PolynomialSurface::getSurfaceType | ( | ) | const [inline, virtual] |
get implementation details
Implements Slam_Surface::Surface.
| void Slam_Surface::PolynomialSurface::init | ( | const boost::array< float, 6 > & | params, |
| const float | min_x, | ||
| const float | max_x, | ||
| const float | min_y, | ||
| const float | max_y, | ||
| const float | weight | ||
| ) | [virtual] |
| virtual float Slam_Surface::PolynomialSurface::merge | ( | const Surface & | o, |
| const float | this_w, | ||
| const float | o_w, | ||
| const SWINDOW & | wind_t, | ||
| const SWINDOW & | wind_o | ||
| ) | [inline, virtual] |
| Eigen::Vector2f Slam_Surface::PolynomialSurface::nextPoint | ( | const Eigen::Vector3f & | v | ) | const [virtual] |
find nearest point to manifold (Newton)
Implements Slam_Surface::Surface.
Definition at line 109 of file surface.hpp.
| Eigen::Vector3f Slam_Surface::PolynomialSurface::normalAt | ( | const Eigen::Vector2f & | v | ) | const [virtual] |
| Eigen::Vector3f Slam_Surface::PolynomialSurface::normalAt2 | ( | const Eigen::Vector2f & | v | ) | const [virtual] |
get normal (2nd derivate) at 2D point
Definition at line 56 of file surface.hpp.
| Eigen::Vector3f Slam_Surface::PolynomialSurface::project2world | ( | const Eigen::Vector2f & | pt | ) | const [virtual] |
project a 2D point to 3D
Implements Slam_Surface::Surface.
Definition at line 30 of file surface.hpp.
| void Slam_Surface::PolynomialSurface::transform | ( | const Eigen::Matrix3f & | rot, |
| const Eigen::Vector3f & | tr | ||
| ) | [virtual] |
Member Data Documentation
Eigen::Matrix3f Slam_Surface::PolynomialSurface::param_ [private] |
Eigen::Matrix<float,3,2> Slam_Surface::PolynomialSurface::proj2plane_ [private] |
The documentation for this class was generated from the following files: