sugr
Class Motion_2D
java.lang.Object
sugr.Element
sugr.Transformation
sugr.Homography_2D
sugr.Affinity_2D
sugr.Motion_2D
- All Implemented Interfaces:
- java.lang.Cloneable, java.io.Serializable
- Direct Known Subclasses:
- Rotation_2D, Translation_2D
- public class Motion_2D
- extends Affinity_2D
This matrix contains translation(2) and rotation(1) in 2D
- Author:
- Norbert Fischer
- See Also:
- Serialized Form
Field Summary |
private static long |
serialVersionUID
Class version number for serialization |
Method Summary |
int |
getDegreesOfFreedom()
Returns the number of elements to specify this transformation |
Methods inherited from class sugr.Element |
approximate, calcCov, changeNullspace, changeNullspace, checkCovDim, checkElement, clone, ensureConstraints, estimate, estimate, gaussHelmertIterations, gaussHelmertIterationsOld, getConstraintValue, getCov, getJacobianOfConstraint, 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 |
serialVersionUID
private static final long serialVersionUID
- Class version number for serialization
- See Also:
- Constant Field Values
Motion_2D
public Motion_2D()
- standard constructor. Creates an identity matrix
Motion_2D
public Motion_2D(Translation_2D trans,
Rotation_2D rot)
- creates a motion by a given Translation_2D and a Rotation_2D
Error propagation is done automatically
- Parameters:
trans
- contains the Translation-matrixrot
- contains the rotation-matrix
Motion_2D
public Motion_2D(Translation_2D trans,
Rotation_2D rot,
Matrix cov)
- creates a motion with covariance by a given Translation_2D
and a Rotation_2D
No error propagation will be performed if cov is not null.
- Parameters:
trans
- contains the Translation-matrixrot
- contains the rotation-matrixcov
- 9x9 matrix
getDegreesOfFreedom
public int getDegreesOfFreedom()
- Returns the number of elements to specify this transformation
- Overrides:
getDegreesOfFreedom
in class Affinity_2D