sugr
Class Motion_2D

java.lang.Object
  extended bysugr.Element
      extended bysugr.Transformation
          extended bysugr.Homography_2D
              extended bysugr.Affinity_2D
                  extended bysugr.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
 
Fields inherited from class sugr.Homography_2D
DIM
 
Fields inherited from class sugr.Element
cov, MAXITER, v
 
Constructor Summary
Motion_2D()
          standard constructor.
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
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.
 
Method Summary
 int getDegreesOfFreedom()
          Returns the number of elements to specify this transformation
 
Methods inherited from class sugr.Homography_2D
doCondition, getDimCol, getDimRow, getJacobianAfterFirst, getJacobianAfterSecond, transform
 
Methods inherited from class sugr.Transformation
errorProp, getDimension, getJacobianOfRelation, getReducedAB, getTransformationMatrix, getTransposeTransMatrix, transform
 
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
 

Field Detail

serialVersionUID

private static final long serialVersionUID
Class version number for serialization

See Also:
Constant Field Values
Constructor Detail

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-matrix
rot - 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-matrix
rot - contains the rotation-matrix
cov - 9x9 matrix
Method Detail

getDegreesOfFreedom

public int getDegreesOfFreedom()
Returns the number of elements to specify this transformation

Overrides:
getDegreesOfFreedom in class Affinity_2D