PointCloudLibrary

This provides some functionality for polynomials, like finding roots or approximating bivariate polynomials. More...

#include <pcl/common/polynomial_calculations.h>

Classes
struct	Parameters
	Parameters used in this class. More...

Public Member Functions
void	solveQuarticEquation (real a, real b, real c, real d, real e, std::vector< real > &roots) const
	Solves an equation of the form ax^4 + bx^3 + cx^2 +dx + e = 0 See http://en.wikipedia.org/wiki/Quartic_equation#Summary_of_Ferrari.27s_method. More...

void	solveCubicEquation (real a, real b, real c, real d, std::vector< real > &roots) const
	Solves an equation of the form ax^3 + bx^2 + cx + d = 0 See http://en.wikipedia.org/wiki/Cubic_equation. More...

void	solveQuadraticEquation (real a, real b, real c, std::vector< real > &roots) const
	Solves an equation of the form ax^2 + bx + c = 0 See http://en.wikipedia.org/wiki/Quadratic_equation. More...

void	solveLinearEquation (real a, real b, std::vector< real > &roots) const
	Solves an equation of the form ax + b = 0. More...

BivariatePolynomialT< real >	bivariatePolynomialApproximation (std::vector< Eigen::Matrix< real, 3, 1 >, Eigen::aligned_allocator< Eigen::Matrix< real, 3, 1 > > > &samplePoints, unsigned int polynomial_degree, bool &error) const
	Get the bivariate polynomial approximation for Z(X,Y) from the given sample points. More...

bool	bivariatePolynomialApproximation (std::vector< Eigen::Matrix< real, 3, 1 >, Eigen::aligned_allocator< Eigen::Matrix< real, 3, 1 > > > &samplePoints, unsigned int polynomial_degree, BivariatePolynomialT< real > &ret) const
	Same as above, using a reference for the return value. More...

void	setZeroValue (real new_zero_value)
	Set the minimum value under which values are considered zero. More...

Protected Member Functions
bool	isNearlyZero (real d) const
	check if std::abs(d)<zeroValue More...

bool	sqrtIsNearlyZero (real d) const
	check if sqrt(std::abs(d))<zeroValue More...

Protected Attributes
Parameters	parameters_

Detailed Description

template<typename real>
class pcl::PolynomialCalculationsT< real >

This provides some functionality for polynomials, like finding roots or approximating bivariate polynomials.

Author: Bastian Steder

Definition at line 49 of file polynomial_calculations.h.

Member Function Documentation

bivariatePolynomialApproximation() [1/2]

template<typename real >

bool pcl::PolynomialCalculationsT< real >::bivariatePolynomialApproximation	(	std::vector< Eigen::Matrix< real, 3, 1 >, Eigen::aligned_allocator< Eigen::Matrix< real, 3, 1 > > > &	samplePoints,
		unsigned int	polynomial_degree,
		pcl::BivariatePolynomialT< real > &	ret
	)		const

inline

Same as above, using a reference for the return value.

Definition at line 408 of file polynomial_calculations.hpp.

References pcl::BivariatePolynomialT< real >::getNoOfParametersFromDegree(), pcl::BivariatePolynomialT< real >::parameters, and pcl::BivariatePolynomialT< real >::setDegree().

bivariatePolynomialApproximation() [2/2]

template<typename real >

pcl::BivariatePolynomialT< real > pcl::PolynomialCalculationsT< real >::bivariatePolynomialApproximation	(	std::vector< Eigen::Matrix< real, 3, 1 >, Eigen::aligned_allocator< Eigen::Matrix< real, 3, 1 > > > &	samplePoints,
		unsigned int	polynomial_degree,
		bool &	error
	)		const

inline

Get the bivariate polynomial approximation for Z(X,Y) from the given sample points.

The parameters a,b,c,... for the polynom are returned. The order is, e.g., for degree 1: ax+by+c and for degree 2: ax²+bxy+cx+dy²+ey+f. error is set to true if the approximation did not work for any reason (not enough points, matrix not invertible, etc.)

Definition at line 397 of file polynomial_calculations.hpp.