Class SePointOps_F64


  • public class SePointOps_F64
    extends java.lang.Object
    • Constructor Detail

      • SePointOps_F64

        public SePointOps_F64()
    • Method Detail

      • transform

        public static Point2D_F64 transform​(Se2_F64 se,
                                            Point2D_F64 orig,
                                            Point2D_F64 result)
        Applies a 2D special euclidean transform to the point and stores the results in another variable.
        Parameters:
        se - The transform.
        orig - Original point being transformed. Not modified.
        result - Where the results are stored. Can be the same as orig. If null a new instance is created. Modified.
        Returns:
        Transformed point.
      • transform

        public static void transform​(Se2_F64 se,
                                     Point2D_F64[] points,
                                     int length)
        Applies a 2D special euclidean transform to an array of points.
        Parameters:
        se - The transform.
        points - Array of points which are to be transformed. Modified.
        length - The number of elements in the array that are to be processed.
      • transform

        public static void transform​(Se2_F64 se,
                                     java.util.List<Point2D_F64> points)
        Applies a 2D special euclidean transform to a list of points.
        Parameters:
        se - The transform.
        points - List of points which are to be transformed. Modified.
      • transform

        public static void transform​(Se3_F64 se,
                                     Point3D_F64[] points,
                                     int start,
                                     int length)
        Applies a 3D special euclidean transform to a list of points.
        Parameters:
        se - The transform.
        points - List of points which are to be transformed. Modified.
      • transform

        public static void transform​(Se3_F64 se,
                                     java.util.List<Point3D_F64> points)
        Applies a 3D special euclidean transform to a list of points.
        Parameters:
        se - The transform.
        points - List of points which are to be transformed. Modified.
      • transform

        public static Point3D_F64 transform​(Se3_F64 se,
                                            Point3D_F64 src,
                                            Point3D_F64 dst)

        . Applies the transform specified by SpecialEuclidean to a point.

        p' = R*p + T

        Both origPt and tranPt can be the same instance.

        Parameters:
        se - SpecialEuclidean transform. Not modified.
        src - Original coordinate of the point. Not modified.
        dst - Storage for transformed coordinate of the point. Point declared if null. Modified.
        Returns:
        Transformed point.
      • transform

        public static Point3D_F64 transform​(Se3_F64 se,
                                            Point4D_F64 src,
                                            Point3D_F64 dst)

        . Applies rigid body motion to a point. The homogeneous coordinate is converted into a cartesian coordinate. This will not handle points at infinity. A NaN will be produced.

        p' = [R t]*p

        Both origPt and tranPt can be the same instance.

        Parameters:
        se - SpecialEuclidean transform. Not modified.
        src - Original coordinate of the point. Not modified.
        dst - Storage for transformed coordinate of the point. Point declared if null. Modified.
        Returns:
        Transformed point.
      • transform

        public static Point4D_F64 transform​(Se3_F64 se,
                                            Point4D_F64 src,
                                            Point4D_F64 dst)

        . Applies the transform specified by SpecialEuclidean to a homogenous point.

        p' = [R t]*p

        Both origPt and tranPt can be the same instance.

        Parameters:
        se - SpecialEuclidean transform. Not modified.
        src - Original coordinate of the point. Not modified.
        dst - Storage for transformed coordinate of the point. Point declared if null. Modified.
        Returns:
        Transformed point.
      • transformReverse

        public static Point3D_F64 transformReverse​(Se3_F64 se,
                                                   Point3D_F64 origPt,
                                                   Point3D_F64 tranPt)

        . Applies the transform in the reverse direction

        p = RT*(p'-T)

        Both origPt and tranPt can be the same instance.

        Parameters:
        se - SpecialEuclidean transform.
        origPt - Original coordinate of the point.
        tranPt - Transformed coordinate of the point.