Public Member Functions | Public Attributes
fcl::Variance3f Class Reference

Class for variance matrix in 3d. More...

#include <hpp/fcl/math/matrix_3f.h>

List of all members.

Public Member Functions

 Variance3f ()
 Variance3f (const Matrix3f &S)
void init ()
 init the Variance
Variance3fsqrt ()
 Compute the sqrt of Sigma matrix based on the eigen decomposition result, this is useful when the uncertainty matrix is initialized as a square variation matrix.

Public Attributes

Matrix3f Sigma
 Variation matrix.
Matrix3f::Scalar sigma [3]
 Variations along the eign axes.
Vec3f axis [3]
 Eigen axes of the variation matrix.

Detailed Description

Class for variance matrix in 3d.


Constructor & Destructor Documentation

fcl::Variance3f::Variance3f ( ) [inline]
fcl::Variance3f::Variance3f ( const Matrix3f S) [inline]

References init().


Member Function Documentation

void fcl::Variance3f::init ( ) [inline]

init the Variance

References axis, fcl::eigen(), Sigma, and sigma.

Referenced by Variance3f().

Variance3f& fcl::Variance3f::sqrt ( ) [inline]

Compute the sqrt of Sigma matrix based on the eigen decomposition result, this is useful when the uncertainty matrix is initialized as a square variation matrix.

References axis, Sigma, and sigma.


Member Data Documentation

Eigen axes of the variation matrix.

Referenced by fcl::BVHExpand(), init(), and sqrt().

Variation matrix.

Referenced by init(), and sqrt().

Matrix3f::Scalar fcl::Variance3f::sigma[3]

Variations along the eign axes.

Referenced by fcl::BVHExpand(), init(), and sqrt().

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