Package georegression.geometry

Class UtilVector3D_F64

java.lang.Object

georegression.geometry.UtilVector3D_F64

public class UtilVector3D_F64
extends Object

Constructor Summary

Constructors

Constructor	Description
UtilVector3D_F64()

Method Summary

Modifier and Type	Method	Description
static double	acute(GeoTuple3D_F64 a, GeoTuple3D_F64 b)	Returns the acute angle between the two vectors.
static int	axisMaxMag(GeoTuple3D_F64<?> v)	Finds which axis in `v` has the largest magnitude
static Vector3D_F64	convert(org.ejml.data.DMatrixRMaj m)	Converts matrices into vectors.
static org.ejml.data.DMatrixRMaj	createMatrix(@Nullable org.ejml.data.DMatrixRMaj R, Vector3D_F64... v)	Creates a matrix from the set of column vectors.
static Vector3D_F64	createRandom(double min, double max, Random rand)	Creates a random vector where each axis is selected from a uniform distribution.
static boolean	isIdentical(Vector3D_F64 a, Vector3D_F64 b, double tol)	Checks to see if the two vectors are identical to within tolerance.
static void	normalize(Vector3D_F64 v)	Rescales the vector such that its normal is equal to one.
static Vector3D_F64	perpendicularCanonical(Vector3D_F64 A, @Nullable Vector3D_F64 output)	Selects a vector which will be perpendicular.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

UtilVector3D_F64

public UtilVector3D_F64()

Method Details

createRandom

public static Vector3D_F64 createRandom(double min,
 double max,
 Random rand)

Creates a random vector where each axis is selected from a uniform distribution.

Parameters:

min - minimum value

max - maximum value

rand - random number generator

Returns:

the new random vector

perpendicularCanonical

public static Vector3D_F64 perpendicularCanonical(Vector3D_F64 A,
 @Nullable
 @Nullable Vector3D_F64 output)

Selects a vector which will be perpendicular.

Parameters:

A - (Input) A vector

output - (Optional) storage for output

Returns:

Perpendicular vector

isIdentical

public static boolean isIdentical(Vector3D_F64 a,
 Vector3D_F64 b,
 double tol)

Checks to see if the two vectors are identical to within tolerance. Each axis is checked individually.

Parameters:

a - First vector.

b - Second vector.

tol - Tolerance for equality.

Returns:

true if identical and false if not.

normalize

public static void normalize(Vector3D_F64 v)

Rescales the vector such that its normal is equal to one.

Parameters:

v - Vector being normalized.

createMatrix

public static org.ejml.data.DMatrixRMaj createMatrix(@Nullable
 @Nullable org.ejml.data.DMatrixRMaj R,
 Vector3D_F64... v)

Creates a matrix from the set of column vectors. Each vector is a column in the new matrix.

Parameters:

v - Set of vectors. Not modified.

R - If not null the vectors are stored here.

Returns:

Matrix.

convert

public static Vector3D_F64 convert(org.ejml.data.DMatrixRMaj m)

Converts matrices into vectors. All matrices must be vectors with 3 elements.

Parameters:

m - A 3x1 or 1x3 matrix

Returns:

Equivalent 3D vector

acute

public static double acute(GeoTuple3D_F64 a,
 GeoTuple3D_F64 b)

Returns the acute angle between the two vectors. Computed using the dot product.

Parameters:

a - vector

b - vector

Returns:

acute angle

axisMaxMag

public static int axisMaxMag(GeoTuple3D_F64<?> v)

Finds which axis in `v` has the largest magnitude