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SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectsugr.Element
sugr.Entity
sugr.Object_2D
sugr.Line_2D
Implementation of Line_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 | |
Line_2D()
Default constructor |
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Line_2D(double angle,
double distance)
Angle-distance constructor for Line_2D. |
|
Line_2D(double u,
double v,
double w)
Creates a new Line_2D. |
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Line_2D(double u,
double v,
double w,
Matrix cov)
Creates a new Line_2D with covariance matrix. |
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Line_2D(double angle,
double distance,
Matrix cov)
Angle-distance constructor for Line_2D with covariance. |
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Line_2D(Point_2D x,
Point_2D y)
Creates a line be two Point_2D. |
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Line_2D(RelationalProperty[] rprops)
Estimates a new line. |
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Line_2D(Vector _v,
Matrix _cov)
Constructor for a new Line_2D |
Method Summary | |
Line_2D |
copy()
returns a copy of this line. |
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 line |
int |
getDimension()
returns the dimension of this line=3 |
double |
getDistance(Entity e)
calculates the distance between this line and a Point_2D |
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 line |
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 line |
static Matrix |
SkewSym(Vector v)
returns the skew symmetic matrix of a 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 Line_2D(Vector _v, Matrix _cov)
_v
- a Vector with dimension 3. Contains the coordinates of the new Line_2D_cov
- 3x3 covariance matrixpublic Line_2D(Point_2D x, Point_2D y)
x
- first Point_2Dy
- second Point_2Dpublic Line_2D(double u, double v, double w)
u
- homogeneous partv
- homogeneous partw
- euklidean partpublic Line_2D(double u, double v, double w, Matrix cov)
u
- homogeneous partv
- homogeneous partw
- euclidean partcov
- 3x3 Matrixpublic Line_2D(double angle, double distance)
angle
- angle between normal of line and x-axisdistance
- distance from originpublic Line_2D(double angle, double distance, Matrix cov)
angle
- angle between normal of line and x-axisdistance
- distance from origincov
- 3x3 Matrix
TODO: Give 2x2 covariance of angle and distance instead
of covariance of line parameterspublic Line_2D()
public Line_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
- Point_2D to calculate distance to
protected Matrix getConditionMatrix(double f)
getConditionMatrix
in class Entity
f
- the conditioning factor
public Line_2D copy()
public int getDimension()
getDimension
in class Element
public int getDegreesOfFreedom()
getDegreesOfFreedom
in class Entity
public Matrix SkewSym()
public static Matrix SkewSym(Vector v)
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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