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SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectsugr.Element
sugr.Entity
sugr.Object_3D
sugr.Point_3D
Implementation of Point_3D
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_3D()
Default Constructor |
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Point_3D(double x,
double y,
double z)
Constructs a new point. homogeneous part is set to 1 and covariance matrix is set to 0 so it has no error |
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Point_3D(double x,
double y,
double z,
double w)
Constructs a new Point_3D by setting all values directly. |
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Point_3D(double x,
double y,
double z,
double sigma_x,
double sigma_y,
double sigma_z)
Construct a Point with known accuracies for x,y and z. |
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Point_3D(double x,
double y,
double z,
double w,
Matrix cov)
Constructs a new point_3D by setting all values directly. |
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Point_3D(double x,
double y,
double z,
Matrix cov)
/** Constructs a new point with covariance. homogeneous part is set to 1. |
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Point_3D(Line_3D L1,
Line_3D L2)
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Point_3D(Line_3D line,
Plane_3D plane)
Constructs a new point by an intersection of line and plane. |
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Point_3D(Plane_3D plane,
Line_3D line)
Constructs a new point by an intersection of line and plane. |
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Point_3D(Plane_3D plane1,
Plane_3D plane2,
Plane_3D plane3)
Constructs a new point by an intersection of three planes. |
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Point_3D(RelationalProperty[] rprops)
Estimates a new point. |
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Point_3D(Vector _v,
Matrix _cov)
Constructor for a new Point_3D |
Method Summary | |
Point_3D |
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=3 of this point |
int |
getDimension()
returns dimension=4 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 point |
Matrix |
getJacobianHomogeneousPart()
returns the part of the covariance matrix, which contains the homogeneous part |
Matrix |
getJacobianOfRelation(java.lang.Class relationType,
java.lang.Class partnerType)
Return Jacobian Matrix of that entity in combination with a relation. |
protected Matrix[] |
getReducedAB(RelationalProperty rprop)
Get the reduced Matrix A and B from a relational property. |
void |
normalizeEuclidean()
normalizes in that way, that the homogeneous part will be 1 |
Matrix |
Pi()
returns the pi-jacobian of this point |
static Matrix |
Pi(Vector v_in)
returns the pi-jacobian of this point |
Matrix |
PiDual()
Returns C*PI matrix the dual PI-matrix |
static Matrix |
PiDual(Vector v_in)
Returns C*PI matrix the dual PI-matrix This matrix differs from that of the dissertation because of other definition of C |
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 |
private static final long serialVersionUID
private static final int DIM
private static final int DOF
Constructor Detail |
public Point_3D(Line_3D L1, Line_3D L2)
public Point_3D(Vector _v, Matrix _cov)
_v
- a Vector with dimension 4. Contains the coordinates of the new Point_3D_cov
- 4x4 covariance matrixpublic Point_3D(Plane_3D plane, Line_3D line)
plane
- a Plane_3Dline
- a Line_3Dpublic Point_3D(Line_3D line, Plane_3D plane)
plane
- a Plane_3Dline
- a Line_3Dpublic Point_3D(Plane_3D plane1, Plane_3D plane2, Plane_3D plane3)
public Point_3D(double x, double y, double z, double w)
public Point_3D(double x, double y, double z, double w, Matrix cov)
cov
- 4x4 Matrixpublic Point_3D(double x, double y, double z)
x
- x-part of pointy
- y-part of pointz
- z-part of pointpublic Point_3D(double x, double y, double z, double sigma_x, double sigma_y, double sigma_z)
x
- first coordinate of pointy
- second coordinate of pointz
- third coordinate of pointsigma_x
- accuracy of x (standard deviation)sigma_y
- accuracy of y (standard deviation)sigma_z
- accuracy of z (standard deviation)public Point_3D(double x, double y, double z, Matrix cov)
x
- x-part of pointy
- y-part of pointz
- z-part of pointcov
- 4x4 Matrixpublic Point_3D()
public Point_3D(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_3D copy()
public int getDimension()
getDimension
in class Element
public int getDegreesOfFreedom()
getDegreesOfFreedom
in class Entity
public Matrix Pi()
public static Matrix Pi(Vector v_in)
public Matrix PiDual()
public static Matrix PiDual(Vector v_in)
public Matrix getJacobianHomogeneousPart()
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
protected Matrix[] getReducedAB(RelationalProperty rprop)
getReducedAB
in class Element
rprop
- the relational Property
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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