opentl::math::Math Class Reference

class supporting basic mathematical routines More...

List of all members.

Public Member Functions

Math ()

virtual ~Math ()

Static Public Member Functions

static double AARectangleIntersectionArea (double Ax, double Ay, double Aw, double Ah, double Bx, double By, double Bw, double Bh)

static void computeAABBOfEllipse (double centerX, double centerY, double majorAx, double minorAx, double &minX, double &minY, double &maxX, double &maxY, double angle=0.0f)

Computes the coordinates of an axis aligned bounding box for a given ellipse.

static void ComputePade4 (double X[][4], double num[][4], double den[][4])

static void createStdDeviationVectorFromCovarianceMatrix (math::Vector *dstVec, const math::SquareMatrix *covarianceMat, math::Vector *meanVec=NULL, bool covMatrixIsDiagonal=true)

Create standard deviation vector from (diagonal) covariance matrix.

static void DeltaTransformLog (const math::Transform &T, math::Transform &logmT)

template<typename _Ty >

static const _Ty getAbs (const _Ty &_X)

Get abs value of two values. Return by reference even for floats/doubles which are NOT supported by the stdlib.

template<typename _Ty >

static const _Ty & getCrop (const _Ty &_V, const _Ty &_Min, const _Ty &_Max)

Crop the value to defined "boundary" values, if it lies outside a given range.

template<typename _Ty >

static const _Ty & getMax (const _Ty &_X, const _Ty &_Y)

Get maximum value of two values.

template<typename _Ty >

static const _Ty & getMin (const _Ty &_X, const _Ty &_Y)

Get minimum value of two values. Return by reference.

static bool intersectAARectangle (double Ax, double Ay, double Aw, double Ah, double Bx, double By, double Bw, double Bh)

tests if zwo axis aligned rectangles intersect

static void normalizeWeights (std::vector< double > &weightVector)

static bool pointInTriangle (double P[2], double A[2], double B[2], double C[2])

static int round (double x)

Rounds a value the fast financial way (via integer cast).

template<typename _Ty >

static const _Ty sqr (const _Ty &_X)

static double trunc (double value, int decimals)

Detailed Description

class supporting basic mathematical routines

Author:

Thomas Friedlhuber <friedlhu@in.tum.de>

Thorsten Roeder <roeder@in.tum.de>

Erwin Roth <eroth@mytum.de>

Giorgio Panin <panin@in.tum.de>

Constructor & Destructor Documentation

opentl::math::Math::Math ( )

virtual opentl::math::Math::~Math ( ) [virtual]

Member Function Documentation

static double opentl::math::Math::AARectangleIntersectionArea	(	double	Ax,
		double	Ay,
		double	Aw,
		double	Ah,
		double	Bx,
		double	By,
		double	Bw,
		double	Bh
	)			`[static]`

static void opentl::math::Math::computeAABBOfEllipse	(	double	centerX,
		double	centerY,
		double	majorAx,
		double	minorAx,
		double &	minX,
		double &	minY,
		double &	maxX,
		double &	maxY,
		double	angle = `0.0f`
	)			`[static]`

Computes the coordinates of an axis aligned bounding box for a given ellipse.

Parameters:

	centerX	x coordinate of center
	centerY	y coordinate of center
	majorAx	the length of the major axis as returned by blob.detect or as used by cvEllipse
	minorAx	the length of the minor axis as returned by blob.detect or as used by cvEllipse
	minX	x coordinate of the "left" point
	minY	y coordinate of the "left" point
	maxX	x coordinate of the "right" point
	maxY	y coordinate of the "right" point
	angle	(in rad) specifies the rotation angle of the ellipse around the center coord. rotation is CCW

static void opentl::math::Math::ComputePade4	(	double	X[][4],
		double	num[][4],
		double	den[][4]
	)			`[static]`

Pade approximant of 4th order (Maple-generated code)

Parameters:

	X	input matrix
	num	Numerator of Pade approximant
	deb	Denominator of Pade approximant

static void opentl::math::Math::createStdDeviationVectorFromCovarianceMatrix	(	math::Vector *	dstVec,
		const math::SquareMatrix *	covarianceMat,
		math::Vector *	meanVec = `NULL`,
		bool	covMatrixIsDiagonal = `true`
	)			`[static]`

Create standard deviation vector from (diagonal) covariance matrix.

Parameters:

	dstVec	Resulting noise vector
	covarianceMat	Positive and symmetrix noise covariance matrix.
	meanVec	Optional: Vector holding mean values
	covMatrixIsDiagonal	Optional: specifies if the covariance matrix is diagonal. default = true(faster execution speed)

static void opentl::math::Math::DeltaTransformLog	(	const math::Transform &	T,
		math::Transform &	logmT
	)			`[static]`

Logarithm of a transform close to the identity (Pade' approximants of 4th order)

Parameters:

	T	input matrix
	logmT	the matrix logarithm : expm(logmT) = I

template<typename _Ty >

static const _Ty opentl::math::Math::getAbs ( const _Ty & _X ) [inline, static]

Get abs value of two values. Return by reference even for floats/doubles which are NOT supported by the stdlib.

Parameters:

	v1	value 1
	v2	value 2

template<typename _Ty >

static const _Ty& opentl::math::Math::getCrop	(	const _Ty &	_V,
		const _Ty &	_Min,
		const _Ty &	_Max
	)			`[inline, static]`

Crop the value to defined "boundary" values, if it lies outside a given range.

Parameters:

	v	value
	min	minimum value
	max	maximum value

template<typename _Ty >

static const _Ty& opentl::math::Math::getMax	(	const _Ty &	_X,
		const _Ty &	_Y
	)			`[inline, static]`

Get maximum value of two values.

Parameters:

	v1	value 1
	v2	value 2

template<typename _Ty >

static const _Ty& opentl::math::Math::getMin	(	const _Ty &	_X,
		const _Ty &	_Y
	)			`[inline, static]`

Get minimum value of two values. Return by reference.

Parameters:

	v1	value 1
	v2	value 2

static bool opentl::math::Math::intersectAARectangle	(	double	Ax,
		double	Ay,
		double	Aw,
		double	Ah,
		double	Bx,
		double	By,
		double	Bw,
		double	Bh
	)			`[static]`

tests if zwo axis aligned rectangles intersect

Parameters:

	Ax	center x coord of rect A
	Ay	center y coord of rect A
	Aw	width of rect A
	Ah	height of rect A
	Bx	center x coord of rect B
	By	center y coord of rect B
	Bw	width of rect B
	Bh	height of rect B

static void opentl::math::Math::normalizeWeights ( std::vector< double > & weightVector ) [inline, static]

static bool opentl::math::Math::pointInTriangle	(	double	P[2],
		double	A[2],
		double	B[2],
		double	C[2]
	)			`[static]`

static int opentl::math::Math::round ( double x ) [inline, static]

Rounds a value the fast financial way (via integer cast).

Parameters:

x

value to be rounded

template<typename _Ty >

static const _Ty opentl::math::Math::sqr ( const _Ty & _X ) [inline, static]

square function

Parameters:

v

input value

Returns:: squared value

static double opentl::math::Math::trunc	(	double	value,
		int	decimals
	)			`[static]`

truncate value

Parameters:

	value	input value
	decimals	number of decimals that should not be truncated

Returns:: truncated value


Public Member Functions
	Math ()
virtual	~Math ()
Static Public Member Functions
static double	AARectangleIntersectionArea (double Ax, double Ay, double Aw, double Ah, double Bx, double By, double Bw, double Bh)
static void	computeAABBOfEllipse (double centerX, double centerY, double majorAx, double minorAx, double &minX, double &minY, double &maxX, double &maxY, double angle=0.0f)
	Computes the coordinates of an axis aligned bounding box for a given ellipse.
static void	ComputePade4 (double X[][4], double num[][4], double den[][4])
static void	createStdDeviationVectorFromCovarianceMatrix (math::Vector dstVec, const math::SquareMatrix covarianceMat, math::Vector *meanVec=NULL, bool covMatrixIsDiagonal=true)
	Create standard deviation vector from (diagonal) covariance matrix.
static void	DeltaTransformLog (const math::Transform &T, math::Transform &logmT)
template<typename _Ty >
static const _Ty	getAbs (const _Ty &_X)
	Get abs value of two values. Return by reference even for floats/doubles which are NOT supported by the stdlib.
template<typename _Ty >
static const _Ty &	getCrop (const _Ty &_V, const _Ty &_Min, const _Ty &_Max)
	Crop the value to defined "boundary" values, if it lies outside a given range.
template<typename _Ty >
static const _Ty &	getMax (const _Ty &_X, const _Ty &_Y)
	Get maximum value of two values.
template<typename _Ty >
static const _Ty &	getMin (const _Ty &_X, const _Ty &_Y)
	Get minimum value of two values. Return by reference.
static bool	intersectAARectangle (double Ax, double Ay, double Aw, double Ah, double Bx, double By, double Bw, double Bh)
	tests if zwo axis aligned rectangles intersect
static void	normalizeWeights (std::vector< double > &weightVector)
static bool	pointInTriangle (double P[2], double A[2], double B[2], double C[2])
static int	round (double x)
	Rounds a value the fast financial way (via integer cast).
template<typename _Ty >
static const _Ty	sqr (const _Ty &_X)
static double	trunc (double value, int decimals)