#include <GeometryHelper.hpp>

Static Public Member Functions
static PointPtr	applyQuatAndRadiusToPose (const PosePtr &pose, const QuaternionPtr &quat, double radius)

static bool	checkIfDoubleNaN (double &c)

static VoteSpecifierPtr	createVoteSpecifier (const PosePtr &sourcePose, const PosePtr &refPose)

static double	deg2rad (double deg)

static QuaternionPtr	eigenQuatToQuat (const Eigen::Quaternion< double > &q)

static double	getAngleBetweenAxes (const Eigen::Vector3d &v1, const Eigen::Vector3d &v2)

static double	getAngleBetweenQuats (const QuaternionPtr &q1, const QuaternionPtr &q2)

static QuaternionPtr	getAveragePose (const std::vector< QuaternionPtr > &poseQuats)

static Eigen::Vector3d	getAxisFromQuat (const QuaternionPtr &quat, const Eigen::Vector3d &viewport=Eigen::Vector3d::UnitX())

static Eigen::Vector3d	getDirectionVector (const PosePtr &first, const PosePtr &second)

static double	getDistanceBetweenPoints (const PointPtr &p1, const PointPtr &p2)

static bool	getNextCombination (const std::vector< unsigned int >::iterator first, std::vector< unsigned int >::iterator k, const std::vector< unsigned int >::iterator last)

static PosePtr	getPoseFromVote (const PosePtr &source, const VoteSpecifierPtr &vote)

static QuaternionPtr	getQuatFromRPY (const QuaternionPtr &q, const double alpha, const double beta, const double gamma)

static PosePtr	getReferencePose (const PosePtr &source, const PointPtr &refPoint, const QuaternionPtr &objectToRefPoseQuat)

static void	getReferencePose (const PosePtr &source, const PointPtr &refPoint, const QuaternionPtr &objectToRefPoseQuat, PosePtr &result)

static PointPtr	getSourcePoint (const PosePtr &refPose, const QuaternionPtr &refToObjectQuat, double radius)

static void	getSourcePoint (const PosePtr &refPose, const QuaternionPtr &refToObjectQuat, double radius, PointPtr &result)

static PosePtr	getSourcePose (const PosePtr &reference, const PointPtr &sourcePoint, const QuaternionPtr &refToObjectPoseQuat)

static void	getSourcePose (const PosePtr &reference, const PointPtr &sourcePoint, const QuaternionPtr &refToObjectPoseQuat, PosePtr &result)

static double	getSquaredDistanceBetweenPoints (const PointPtr &p1, const PointPtr &p2)

static bool	isSelfVote (const VoteSpecifierPtr &vote)

static QuaternionPtr	normalize (const QuaternionPtr &quat)

static bool	pointEqual (const PointPtr &p1, const PointPtr &p2)

static Eigen::Vector3d	pointToVector (const PointPtr &p)

static bool	poseEqual (const PosePtr &p1, const PosePtr &p2)

static bool	quatEqual (const QuaternionPtr &q1, const QuaternionPtr &q2)

static bool	quatEqual (const Quaternion &q1, const Quaternion &q2)

static Eigen::Quaternion< double >	quatToEigenQuat (const QuaternionPtr &q)

static double	rad2deg (double rad)

static bool	sharedNeighborhoodEvaluation (const PosePtr &p1, const PosePtr &p2, double distanceNeighbourThreshold, double angleNeighbourThreshold)

static Eigen::Quaternion< double >	vectorRotationToEigenQuat (const Eigen::Vector3d &v1, const Eigen::Vector3d &v2)

static PointPtr	vectorToPoint (const Eigen::Vector3d &v)

Static Public Attributes
static double constexpr	epsylon = 1e-4

static Quaternion	selfQuat = Quaternion()

Detailed Description

Definition at line 28 of file GeometryHelper.hpp.

Member Function Documentation

static PointPtr ISM::GeometryHelper::applyQuatAndRadiusToPose	(	const PosePtr &	pose,
		const QuaternionPtr &	quat,
		double	radius
	)

inlinestatic

Definition at line 88 of file GeometryHelper.hpp.

static bool ISM::GeometryHelper::checkIfDoubleNaN ( double & c )

inlinestatic

Definition at line 325 of file GeometryHelper.hpp.

static VoteSpecifierPtr ISM::GeometryHelper::createVoteSpecifier	(	const PosePtr &	sourcePose,
		const PosePtr &	refPose
	)

inlinestatic

Pose related methods

Definition at line 112 of file GeometryHelper.hpp.

static double ISM::GeometryHelper::deg2rad ( double deg )

inlinestatic

Definition at line 321 of file GeometryHelper.hpp.

static QuaternionPtr ISM::GeometryHelper::eigenQuatToQuat ( const Eigen::Quaternion< double > & q )

inlinestatic

Definition at line 206 of file GeometryHelper.hpp.

static double ISM::GeometryHelper::getAngleBetweenAxes	(	const Eigen::Vector3d &	v1,
		const Eigen::Vector3d &	v2
	)

inlinestatic

Definition at line 223 of file GeometryHelper.hpp.

static double ISM::GeometryHelper::getAngleBetweenQuats	(	const QuaternionPtr &	q1,
		const QuaternionPtr &	q2
	)

inlinestatic

Definition at line 214 of file GeometryHelper.hpp.

static QuaternionPtr ISM::GeometryHelper::getAveragePose ( const std::vector< QuaternionPtr > & poseQuats )

inlinestatic

Definition at line 265 of file GeometryHelper.hpp.

static Eigen::Vector3d ISM::GeometryHelper::getAxisFromQuat	(	const QuaternionPtr &	quat,
		const Eigen::Vector3d &	viewport = `Eigen::Vector3d::UnitX()`
	)

inlinestatic

Definition at line 218 of file GeometryHelper.hpp.

static Eigen::Vector3d ISM::GeometryHelper::getDirectionVector	(	const PosePtr &	first,
		const PosePtr &	second
	)

inlinestatic

Definition at line 155 of file GeometryHelper.hpp.

static double ISM::GeometryHelper::getDistanceBetweenPoints	(	const PointPtr &	p1,
		const PointPtr &	p2
	)

inlinestatic

Definition at line 182 of file GeometryHelper.hpp.

static bool ISM::GeometryHelper::getNextCombination	(	const std::vector< unsigned int >::iterator	first,
		std::vector< unsigned int >::iterator	k,
		const std::vector< unsigned int >::iterator	last
	)

inlinestatic

Definition at line 277 of file GeometryHelper.hpp.

static PosePtr ISM::GeometryHelper::getPoseFromVote	(	const PosePtr &	source,
		const VoteSpecifierPtr &	vote
	)

inlinestatic

Definition at line 144 of file GeometryHelper.hpp.

static QuaternionPtr ISM::GeometryHelper::getQuatFromRPY	(	const QuaternionPtr &	q,
		const double	alpha,
		const double	beta,
		const double	gamma
	)

inlinestatic

Definition at line 252 of file GeometryHelper.hpp.

static PosePtr ISM::GeometryHelper::getReferencePose	(	const PosePtr &	source,
		const PointPtr &	refPoint,
		const QuaternionPtr &	objectToRefPoseQuat
	)

inlinestatic

Voting related methods Calculates an absolute pose at refPoint based on a relative orientation refToSourceQuat towards source.

Parameters

source	Absolute position in refPoint has been calculated be combining source and the relative position of refPoint towards source.
refPoint	Absolute position for which we want to calculate the corresponding orientation.
refToSourceQuat	Relative orientation of searched absolute pose relative to source.

Returns: 6D pose being looked for.

Definition at line 43 of file GeometryHelper.hpp.

static void ISM::GeometryHelper::getReferencePose	(	const PosePtr &	source,
		const PointPtr &	refPoint,
		const QuaternionPtr &	objectToRefPoseQuat,
		PosePtr &	result
	)

inlinestatic

Definition at line 50 of file GeometryHelper.hpp.

static PointPtr ISM::GeometryHelper::getSourcePoint	(	const PosePtr &	refPose,
		const QuaternionPtr &	refToObjectQuat,
		double	radius
	)

inlinestatic

Calculate an absolute position by combining refPose and a relative position vector composed of refToObjectQuat and radius.

Parameters

refPose	Absolute position that is combined with relative pose.
refToObjectQuat	Orientation of Eigen::Vector3d connecting refPose and position being searched for.
radius	Length of Eigen::Vector3d connecting refPose and position being searched for.

Returns: 3D position being looked for.

Definition at line 63 of file GeometryHelper.hpp.

static void ISM::GeometryHelper::getSourcePoint	(	const PosePtr &	refPose,
		const QuaternionPtr &	refToObjectQuat,
		double	radius,
		PointPtr &	result
	)

inlinestatic

Definition at line 70 of file GeometryHelper.hpp.

static PosePtr ISM::GeometryHelper::getSourcePose	(	const PosePtr &	reference,
		const PointPtr &	sourcePoint,
		const QuaternionPtr &	refToObjectPoseQuat
	)

inlinestatic

Definition at line 76 of file GeometryHelper.hpp.

static void ISM::GeometryHelper::getSourcePose	(	const PosePtr &	reference,
		const PointPtr &	sourcePoint,
		const QuaternionPtr &	refToObjectPoseQuat,
		PosePtr &	result
	)

inlinestatic

Definition at line 83 of file GeometryHelper.hpp.

static double ISM::GeometryHelper::getSquaredDistanceBetweenPoints	(	const PointPtr &	p1,
		const PointPtr &	p2
	)

inlinestatic

Definition at line 187 of file GeometryHelper.hpp.

static bool ISM::GeometryHelper::isSelfVote ( const VoteSpecifierPtr & vote )

inlinestatic

Definition at line 100 of file GeometryHelper.hpp.

static QuaternionPtr ISM::GeometryHelper::normalize ( const QuaternionPtr & quat )

inlinestatic

Definition at line 210 of file GeometryHelper.hpp.

static bool ISM::GeometryHelper::pointEqual	(	const PointPtr &	p1,
		const PointPtr &	p2
	)

inlinestatic

Definition at line 192 of file GeometryHelper.hpp.

static Eigen::Vector3d ISM::GeometryHelper::pointToVector ( const PointPtr & p )

inlinestatic

Point related methods

Definition at line 174 of file GeometryHelper.hpp.

static bool ISM::GeometryHelper::poseEqual	(	const PosePtr &	p1,
		const PosePtr &	p2
	)

inlinestatic

Definition at line 150 of file GeometryHelper.hpp.

static bool ISM::GeometryHelper::quatEqual	(	const QuaternionPtr &	q1,
		const QuaternionPtr &	q2
	)

inlinestatic

Definition at line 233 of file GeometryHelper.hpp.

static bool ISM::GeometryHelper::quatEqual	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

inlinestatic

Definition at line 238 of file GeometryHelper.hpp.

static Eigen::Quaternion<double> ISM::GeometryHelper::quatToEigenQuat ( const QuaternionPtr & q )

inlinestatic

Quaternion related methods

Definition at line 202 of file GeometryHelper.hpp.

static double ISM::GeometryHelper::rad2deg ( double rad )

inlinestatic

Various geometry related helpers

Definition at line 317 of file GeometryHelper.hpp.

static bool ISM::GeometryHelper::sharedNeighborhoodEvaluation	(	const PosePtr &	p1,
		const PosePtr &	p2,
		double	distanceNeighbourThreshold,
		double	angleNeighbourThreshold
	)

inlinestatic

Definition at line 163 of file GeometryHelper.hpp.

static Eigen::Quaternion<double> ISM::GeometryHelper::vectorRotationToEigenQuat	(	const Eigen::Vector3d &	v1,
		const Eigen::Vector3d &	v2
	)

inlinestatic

Definition at line 246 of file GeometryHelper.hpp.

static PointPtr ISM::GeometryHelper::vectorToPoint ( const Eigen::Vector3d & v )

inlinestatic

Definition at line 178 of file GeometryHelper.hpp.

Member Data Documentation

double constexpr ISM::GeometryHelper::epsylon = 1e-4

static

Definition at line 99 of file GeometryHelper.hpp.

Quaternion ISM::GeometryHelper::selfQuat = Quaternion()

static

Definition at line 98 of file GeometryHelper.hpp.

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

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation