polynomial_calculations.h

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#ifndef PCL_POLYNOMIAL_CALCULATIONS_H_
#define PCL_POLYNOMIAL_CALCULATIONS_H_

#include <pcl/common/eigen.h>
#include <pcl/common/bivariate_polynomial.h>

namespace pcl 
{
  template <typename real>
  class PolynomialCalculationsT 
  {
    public:
      // =====CONSTRUCTOR & DESTRUCTOR=====
      PolynomialCalculationsT ();
      ~PolynomialCalculationsT ();
      
      // =====PUBLIC STRUCTS=====
      struct Parameters
      {
        Parameters () : zero_value (), sqr_zero_value () { setZeroValue (1e-6);}
        void
        setZeroValue (real new_zero_value);

        real zero_value;       
        real sqr_zero_value;   
      };
      
      // =====PUBLIC METHODS=====
      inline void
      solveQuarticEquation (real a, real b, real c, real d, real e, std::vector<real>& roots) const;

      inline void
      solveCubicEquation (real a, real b, real c, real d, std::vector<real>& roots) const;

      inline void
      solveQuadraticEquation (real a, real b, real c, std::vector<real>& roots) const;

      inline void
      solveLinearEquation (real a, real b, std::vector<real>& roots) const;
      
      inline BivariatePolynomialT<real>
      bivariatePolynomialApproximation (std::vector<Eigen::Matrix<real, 3, 1> >& samplePoints,
                                        unsigned int polynomial_degree, bool& error) const;
      
      inline bool
      bivariatePolynomialApproximation (std::vector<Eigen::Matrix<real, 3, 1> >& samplePoints,
                                        unsigned int polynomial_degree, BivariatePolynomialT<real>& ret) const;

      inline void
      setZeroValue (real new_zero_value) { parameters_.setZeroValue(new_zero_value); }
      
    protected:  
      // =====PROTECTED METHODS=====
      inline bool
      isNearlyZero (real d) const 
      { 
        return (fabs (d) < parameters_.zero_value);
      }
      
      inline bool
      sqrtIsNearlyZero (real d) const 
      { 
        return (fabs (d) < parameters_.sqr_zero_value);
      }
      
      // =====PROTECTED MEMBERS=====
      Parameters parameters_;
  };

  typedef PolynomialCalculationsT<double> PolynomialCalculationsd;
  typedef PolynomialCalculationsT<float>  PolynomialCalculations;

}  // end namespace

#include <pcl/common/impl/polynomial_calculations.hpp>

#endif