sugr_Line_3D

% Create 3D line

 Line_3D = sugr_Line_3D(a1,a2)

 Usage:
    Line_3D = sugr_Line_3D(L)
       6-vector, CovM = 0; needs not be a Plücker vector
    Line_3D = sugr_Line_3D(L,Chh)
       homgeneous 6-vector, needs not be a Plücker vector

 Line_3D = structure
 *      .h     = spherically normalized Plücker vector
 *      .Crr   = reduced covariance matrix
 *      .Jr    = null space of [.h,Dual(.h)]'
 *      .type = 4

 Bernhard Wrobel, Wolfgang Förstner 7/2012
 wfoerstn@uni-bonn.de

 See also sugr_minimal_3D_Line, sugr_construct_join_Line_3D, sugr_constrain_3D_Line
 sugr_Point_3D , sugr_Plane_3D

0001 %% Create 3D line
0002 %
0003 % Line_3D = sugr_Line_3D(a1,a2)
0004 %
0005 % Usage:
0006 %    Line_3D = sugr_Line_3D(L)
0007 %       6-vector, CovM = 0; needs not be a Plücker vector
0008 %    Line_3D = sugr_Line_3D(L,Chh)
0009 %       homgeneous 6-vector, needs not be a Plücker vector
0010 %
0011 % Line_3D = structure
0012 % *      .h     = spherically normalized Plücker vector
0013 % *      .Crr   = reduced covariance matrix
0014 % *      .Jr    = null space of [.h,Dual(.h)]'
0015 % *      .type = 4
0016 %
0017 % Bernhard Wrobel, Wolfgang Förstner 7/2012
0018 % wfoerstn@uni-bonn.de
0019 %
0020 % See also sugr_minimal_3D_Line, sugr_construct_join_Line_3D, sugr_constrain_3D_Line
0021 % sugr_Point_3D , sugr_Plane_3D
0022 
0023 
0024 function Line_3D = sugr_Line_3D(a1,a2)
0025 
0026 % default
0027 Chh  = zeros(6);
0028 
0029 switch nargin
0030     case 0
0031         
0032     case 1 % 1 argument
0033         
0034         % (1) Plücker vector, CovM == 0
0035         % spherically normalized, Plücker constraint
0036         Line_3D = sugr_minimal_3D_Line(a1,Chh);
0037         
0038     case 2   % 2 argument
0039         
0040         % (2) homogeneous vector
0041         Line_3D = sugr_minimal_3D_Line(a1,a2);
0042         
0043 end
0044 
0045 Line_3D.type=4;