maspack.geometry

Class CovarianceUtils

java.lang.Object

maspack.geometry.CovarianceUtils

public class CovarianceUtils
extends java.lang.Object

Set of utility methods to compute and transform Covariances.

Constructor Summary

Constructors

Constructor and Description
CovarianceUtils()

Method Summary

Modifier and Type	Method and Description
static void	addScaledPointCovariance(Matrix3d C, double s, Point3d p)
static double	addTriangleCovariance(Matrix3d C, Point3d p0, Point3d p1, Point3d p2)
static double	computeLineSegmentCovariance(Matrix3d C, Point3d p0, Point3d p1)
static void	computePointCovariance(Matrix3d C, Point3d p)
static void	transformCovariance(Matrix3d CT, Matrix3d C, Point3d cent, double a, RigidTransform3d T) Transforms a covariance matrix into a new coordinate system, given its associated centroid 'area' (or volume).

Methods inherited from class java.lang.Object

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

Constructor Detail

CovarianceUtils

public CovarianceUtils()

Method Detail

computePointCovariance

public static void computePointCovariance(Matrix3d C,
                                          Point3d p)

addScaledPointCovariance

public static void addScaledPointCovariance(Matrix3d C,
                                            double s,
                                            Point3d p)

computeLineSegmentCovariance

public static double computeLineSegmentCovariance(Matrix3d C,
                                                  Point3d p0,
                                                  Point3d p1)

addTriangleCovariance

public static double addTriangleCovariance(Matrix3d C,
                                           Point3d p0,
                                           Point3d p1,
                                           Point3d p2)

transformCovariance

public static void transformCovariance(Matrix3d CT,
                                       Matrix3d C,
                                       Point3d cent,
                                       double a,
                                       RigidTransform3d T)

Transforms a covariance matrix into a new coordinate system, given its associated centroid 'area' (or volume).

Parameters:

CT - returns the transformed covariance

C - covariance to transform

cent - centroid associated with the covariance (in old coordinates)

a - area (or length or volume) associated with the covariance

T - transformation from old to new coordinates