#include <surface_nurbs.h>

Inheritance diagram for Slam_Surface::SurfaceNurbs:

Classes
struct	Functor
struct	PT_GRID
Public Member Functions
virtual float	_merge (SurfaceNurbs o, const float this_w, const float o_w, const SWINDOW &wind_t, const SWINDOW &wind_o)
virtual Eigen::Vector3f	_project2world (const Eigen::Vector2f &pt) const
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
const SURFACE &	getNurbs () const
virtual int	getSurfaceType () const
	get implementation details
virtual void	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)
	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
virtual Eigen::Vector3f	normalAt (const Eigen::Vector2f &v) const
	get normal 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 Types
typedef PlNurbsSurfaceSPf	SURFACE
Private Member Functions
virtual float	_merge2 (SurfaceNurbs o, const float this_w, const float o_w, const SWINDOW &wind_t, const SWINDOW &wind_o)
Eigen::Vector2f	_nextPoint (const Eigen::Vector3f &v) const
	find nearest point to manifold
virtual Eigen::Vector3f	_normalAt (const Eigen::Vector2f &v) const
virtual Eigen::Vector2f	correct (const Eigen::Vector2f &v) const
	offset correction
int	myprojectOn (const SURFACE &s, const Eigen::Vector3f &p, float &u, float &v, const int maxIt) const
Private Attributes
float	c_x_m_
float	c_x_o_
float	c_y_m_
float	c_y_o_
SURFACE	nurbs_
MatrixRTf	weights_

Detailed Description

Definition at line 16 of file surface_nurbs.h.

Member Typedef Documentation

typedef PlNurbsSurfaceSPf Slam_Surface::SurfaceNurbs::SURFACE [private]

Definition at line 18 of file surface_nurbs.h.

Member Function Documentation

float Slam_Surface::SurfaceNurbs::_merge	(	SurfaceNurbs	o,
		const float	this_w,
		const float	o_w,
		const SWINDOW &	wind_t,
		const SWINDOW &	wind_o
	)		`[virtual]`

Definition at line 372 of file surface_nurbs.hpp.

float Slam_Surface::SurfaceNurbs::_merge2	(	SurfaceNurbs	o,
		const float	this_w,
		const float	o_w,
		const SWINDOW &	wind_t,
		const SWINDOW &	wind_o
	)		`[private, virtual]`

Definition at line 763 of file surface_nurbs.hpp.

Eigen::Vector2f Slam_Surface::SurfaceNurbs::_nextPoint ( const Eigen::Vector3f & v ) const [private]

find nearest point to manifold

Definition at line 271 of file surface_nurbs.hpp.

Eigen::Vector3f Slam_Surface::SurfaceNurbs::_normalAt ( const Eigen::Vector2f & v ) const [private, virtual]

Definition at line 123 of file surface_nurbs.hpp.

Eigen::Vector3f Slam_Surface::SurfaceNurbs::_project2world ( const Eigen::Vector2f & pt ) const [virtual]

Definition at line 110 of file surface_nurbs.hpp.

virtual float Slam_Surface::SurfaceNurbs::area ( ) const [inline, virtual]

calc approx. area

Implements Slam_Surface::Surface.

Definition at line 121 of file surface_nurbs.h.

Eigen::Vector2f Slam_Surface::SurfaceNurbs::correct ( const Eigen::Vector2f & v ) const [private, virtual]

offset correction

Definition at line 99 of file surface_nurbs.hpp.

bool Slam_Surface::SurfaceNurbs::fitsCurvature	(	const Surface &	o,
		const float	thr
	)		const `[virtual]`

check form against

Implements Slam_Surface::Surface.

Definition at line 156 of file surface_nurbs.hpp.

virtual const char* Slam_Surface::SurfaceNurbs::getName ( void ) const [inline, virtual]

Implements Slam_Surface::Surface.

Definition at line 96 of file surface_nurbs.h.

const SURFACE& Slam_Surface::SurfaceNurbs::getNurbs ( ) const [inline]

Definition at line 118 of file surface_nurbs.h.

virtual int Slam_Surface::SurfaceNurbs::getSurfaceType ( ) const [inline, virtual]

get implementation details

Implements Slam_Surface::Surface.

Definition at line 95 of file surface_nurbs.h.

void Slam_Surface::SurfaceNurbs::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]`

init with 6 parameters

Implements Slam_Surface::Surface.

Definition at line 12 of file surface_nurbs.hpp.

float Slam_Surface::SurfaceNurbs::merge	(	const Surface &	o,
		const float	this_w,
		const float	o_w,
		const SWINDOW &	wind_t,
		const SWINDOW &	wind_o
	)		`[virtual]`