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SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectsugr.Element
sugr.Entity
sugr.Object_2D
sugr.Point_2D
Implementation of Point_2D
Field Summary | |
private static int |
DIM
|
private static int |
DOF
|
private static long |
serialVersionUID
Class version number for serialization |
Fields inherited from class sugr.Element |
cov, MAXITER, v |
Constructor Summary | |
Point_2D()
default constructor |
|
Point_2D(double x,
double y)
Constructor for a euclidean point. homogeneous part is set to 1, covariance matrix is set to 0 |
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Point_2D(double u,
double v,
double w)
Sets all elements of point directly. |
|
Point_2D(double x,
double y,
double sigma_x,
double sigma_y)
Construct a Point with known accuracies for x and y. |
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Point_2D(double u,
double v,
double w,
Matrix cov)
Sets all elements of point directly. |
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Point_2D(double x,
double y,
Matrix cov)
Constructor for a euclidean point with covariance. homogeneous part is set to 1. |
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Point_2D(Line_2D l,
Line_2D m)
constructs a new point_2D by an intersection between two lines. |
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Point_2D(RelationalProperty[] rprops)
Estimates a new Point |
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Point_2D(Vector _v,
Matrix _cov)
Constructor for a new Point_2D |
Method Summary | |
Point_2D |
copy()
returns a copy of this point. |
protected Matrix |
getConditionMatrix(double f)
Get a matrix W(f) for conditioning. |
Matrix |
getCovarianceOfJacobianRowOfRelation(java.lang.Class relationType,
java.lang.Class partnerType,
int row)
Return Covariance of a Row of the Jacobian Matrix of that entity in combination with a relation. |
int |
getDegreesOfFreedom()
returns dof=2 of this point |
int |
getDimension()
returns dimension=3 for this point |
double |
getDistance(Entity e)
Compute the (euclidean) distance to another entity. |
int |
getDofOfRelation(java.lang.Class relationType,
java.lang.Class partnerType)
Compute degrees of freedom of a relation. |
Vector |
getEuclideanPart()
returns the euclidean part of this point |
Vector |
getHomogeneousPart()
returns the homogeneous part of this plane |
Matrix |
getJacobianOfRelation(java.lang.Class relationType,
java.lang.Class partnerType)
Return Jacobian Matrix of that entity in combination with a relation. |
void |
normalizeEuclidean()
normalizes in that way, that the homogeneous part will be 1 |
Matrix |
SkewSym()
Returns the skew symmetric matrix of this point |
static Matrix |
SkewSym(Vector v)
Returns the skew symmetric matrix of a 3x1 vector. |
Methods inherited from class sugr.Element |
approximate, calcCov, changeNullspace, changeNullspace, checkCovDim, checkElement, clone, ensureConstraints, estimate, estimate, gaussHelmertIterations, gaussHelmertIterationsOld, getConstraintValue, getCov, getJacobianOfConstraint, getReducedAB, getV, normalizeSphere, normalizeSphereComparable, print, print, reduceFirstMatrix, reduceMatrix, reduceMatrix, setCov, setV, toString |
Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
private static final long serialVersionUID
private static final int DIM
private static final int DOF
Constructor Detail |
public Point_2D(Vector _v, Matrix _cov)
_v
- a Vector with dimension 3. Contains the coordinates of the new Line_2D_cov
- 3x3 covariance matrixpublic Point_2D(double x, double y)
x
- x-part of pointy
- y-part of pointpublic Point_2D(double x, double y, Matrix cov)
x
- x-part of pointy
- y-part of pointcov
- 3x3 Matrixpublic Point_2D(double u, double v, double w)
public Point_2D(double u, double v, double w, Matrix cov)
cov
- 3x3 Matrixpublic Point_2D(double x, double y, double sigma_x, double sigma_y)
x
- first coordinate of pointy
- second coordinate of pointsigma_x
- accuracy of x (standard deviation)sigma_y
- accuracy of y (standard deviation)public Point_2D(Line_2D l, Line_2D m)
l
- first Line_2Dm
- second Line_2Dpublic Point_2D()
public Point_2D(RelationalProperty[] rprops)
rprops
- an array of constraints.Method Detail |
public Vector getEuclideanPart()
getEuclideanPart
in class Entity
public Vector getHomogeneousPart()
getHomogeneousPart
in class Entity
public double getDistance(Entity e)
getDistance
in class Entity
e
- the entity to which a distance should be computed.
protected Matrix getConditionMatrix(double f)
getConditionMatrix
in class Entity
f
- the conditioning factor
public Point_2D copy()
public int getDimension()
getDimension
in class Element
public int getDegreesOfFreedom()
getDegreesOfFreedom
in class Entity
public static Matrix SkewSym(Vector v)
public Matrix SkewSym()
public void normalizeEuclidean()
normalizeEuclidean
in class Entity
public Matrix getJacobianOfRelation(java.lang.Class relationType, java.lang.Class partnerType) throws java.lang.IllegalArgumentException
getJacobianOfRelation
in class Entity
relationType
- the type of the relationpartnerType
- the type of the other partner in the relation
java.lang.IllegalArgumentException
public int getDofOfRelation(java.lang.Class relationType, java.lang.Class partnerType) throws java.lang.IllegalArgumentException
Compute degrees of freedom of a relation.
getDofOfRelation
in class Entity
relationType
- the type of the relationpartnerType
- the type of the other partner in the relation
java.lang.IllegalArgumentException
public Matrix getCovarianceOfJacobianRowOfRelation(java.lang.Class relationType, java.lang.Class partnerType, int row) throws java.lang.IllegalArgumentException
getCovarianceOfJacobianRowOfRelation
in class Entity
relationType
- the type of the relationpartnerType
- the type of the other partner in the relation
java.lang.IllegalArgumentException
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