JCOMPASS::JHit Struct Reference

Hit. More...

#include <JHit.hh>

Inheritance diagram for JCOMPASS::JHit:

Public Member Functions
	JHit ()
	Default constructor. More...
	JHit (const int id, const double z, const JQuaternion3D &Q, const double sigma)
	Constructor. More...
double	getZ () const
	Get z-position. More...
double	getSigma () const
	Get resolution. More...
int	getID () const
	Get identifier. More...
int &	getID ()
	Get identifier. More...
void	setID (const int id)
	Set identifier. More...
bool	less (const JObjectID &object) const
	Less than method. More...
bool	less (const int id) const
	Less than method. More...
bool	more (const int id) const
	More than method. More...
const JQuaternion3D &	getQuaternion () const
	Get quaternion. More...
JQuaternion3D &	getQuaternion ()
	Get quaternion. More...
void	setQuaternion (const JQuaternion3D &quaternion)
	Set quaternion. More...
	operator JVector3D () const
	Type conversion operator. More...
	operator JVersor3D () const
	Type conversion operator. More...
double	getAngle () const
	Get rotation angle. More...
double	getA () const
	Get a value. More...
double	getB () const
	Get b value. More...
double	getC () const
	Get c value. More...
double	getD () const
	Get d value. More...
JQuaternion3D &	setIdentity ()
	Set to identity quaternion. More...
JQuaternion3D &	conjugate ()
	Conjugate quaternion. More...
JQuaternion3D &	negate ()
	Negate quaternion. More...
JQuaternion3D &	add (const JQuaternion3D &quaternion)
	Add quaternion. More...
JQuaternion3D &	sub (const JQuaternion3D &quaternion)
	Subtract quaternion. More...
JQuaternion3D &	mul (const double factor)
	Scale quaternion. More...
JQuaternion3D &	mul (const JQuaternion3D &first, const JQuaternion3X &second)
	Quaternion multiplication. More...
JQuaternion3D &	mul (const JQuaternion3D &first, const JQuaternion3Y &second)
	Quaternion multiplication. More...
JQuaternion3D &	mul (const JQuaternion3D &first, const JQuaternion3Z &second)
	Quaternion multiplication. More...
JQuaternion3D &	mul (const JQuaternion3D &first, const JQuaternion3D &second)
	Quaternion multiplication. More...
JQuaternion3D &	mul (const JQuaternion3X &qx, const JQuaternion3Y &qy, const JQuaternion3Z &qz)
	Quaternion multiplication. More...
JFirst_t &	mul (const JSecond_t &object)
	Multiply with object. More...
JQuaternion3D &	div (const double factor)
	Scale quaternion. More...
void	rotate (double &__x, double &__y, double &__z) const
	Rotate. More...
void	rotate_back (double &__x, double &__y, double &__z) const
	Rotate back. More...
bool	equals (const JQuaternion3D &quaternion, const double precision=std::numeric_limits< double >::min()) const
	Check equality. More...
bool	isIdentity (const double precision=std::numeric_limits< double >::min()) const
	Test identity. More...
double	getLengthSquared () const
	Get length squared. More...
double	getLength () const
	Get length. More...
double	getDistanceSquared (const JQuaternion3D &quaternion) const
	Get squared of distance to quaternion. More...
double	getDistance (const JQuaternion3D &quaternion) const
	Get distance to quaternion. More...
double	getDot (const JQuaternion3D &quaternion) const
	Get dot product. More...
JQuaternion3D	getConjugate () const
	Get conjugate of this quaternion. More...
JQuaternion3D &	normalise ()
	Normalise quaternion. More...
JQuaternion3D &	pow (const double y)
	Raise quaternion to given power. More...
JQuaternion3D &	interpolate (const JQuaternion3D &object, const double alpha)
	Interpolation between quaternions. More...

Static Public Member Functions
static const JQuaternion3D &	getIdentity ()
	Get identity quaternion. More...

Protected Attributes
double	z
double	sigma
int	__id
double	__a
double	__b
double	__c
double	__d

Detailed Description

Hit.

Definition at line 22 of file JCompass/JHit.hh.

Constructor & Destructor Documentation

JCOMPASS::JHit::JHit ( )

inline

Default constructor.

Definition at line 29 of file JCompass/JHit.hh.

           :
      JObjectID(),
      JQuaternion3D(),
      z(0.0),
      sigma(0.0)
    {}

JCOMPASS::JHit::JHit ( const int  id, const double  z, const JQuaternion3D &  Q, const double  sigma  )

inline

Constructor.

Parameters

id	identifier
z	z-position
Q	quaternion
sigma	resolution [deg]

Definition at line 45 of file JCompass/JHit.hh.

                                     :
      JObjectID(id),
      JQuaternion3D(Q),
      z(z),
      sigma(sigma)
    {}

Member Function Documentation

double JCOMPASS::JHit::getZ ( ) const

inline

Get z-position.

Returns

z-position

Definition at line 61 of file JCompass/JHit.hh.

    {
      return z;
    }

double JCOMPASS::JHit::getSigma ( ) const

inline

Get resolution.

Returns

sigma

Definition at line 72 of file JCompass/JHit.hh.

    {
      return sigma;
    }

int JLANG::JObjectID::getID ( ) const

inlineinherited

Get identifier.

Returns

identifier

Definition at line 50 of file JObjectID.hh.

    { 
      return __id;
    }

int& JLANG::JObjectID::getID ( )

inlineinherited

Get identifier.

Returns

identifier

Definition at line 61 of file JObjectID.hh.

    { 
      return __id;
    }

void JLANG::JObjectID::setID ( const int  id )

inlineinherited

Set identifier.

Parameters

id	identifier

Definition at line 72 of file JObjectID.hh.

    { 
      this->__id = id;
    }

bool JLANG::JObjectID::less ( const JObjectID &  object ) const

inlineinherited

Less than method.

Parameters

object

object identifier

Returns

true if this identifier less than given identifier; else false

Definition at line 84 of file JObjectID.hh.

    { 
      return this->getID() < object.getID();
    }

bool JLANG::JObjectID::less ( const int  id ) const

inlineinherited

Less than method.

Parameters

id	identifier

Returns

true if this identifier less than given identifier; else false

Definition at line 96 of file JObjectID.hh.

    { 
      return this->getID() < id;
    }

bool JLANG::JObjectID::more ( const int  id ) const

inlineinherited

More than method.

Parameters

id	identifier

Returns

true if this identifier greater than given identifier; else false

Definition at line 108 of file JObjectID.hh.

    { 
      return this->getID() > id;
    }

static const JQuaternion3D& JGEOMETRY3D::JQuaternion3D::getIdentity ( )

inlinestaticinherited

Get identity quaternion.

Returns

identity quaternion

Definition at line 463 of file JQuaternion3D.hh.

    {
      static const JQuaternion3D Q = JQuaternion3D().setIdentity();

      return Q;
    }

const JQuaternion3D& JGEOMETRY3D::JQuaternion3D::getQuaternion ( ) const

inlineinherited

Get quaternion.

Returns

quaternion

Definition at line 476 of file JQuaternion3D.hh.

    {
      return static_cast<const JQuaternion3D&>(*this);
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::getQuaternion ( )

inlineinherited

Get quaternion.

Returns

quaternion

Definition at line 487 of file JQuaternion3D.hh.

    {
      return static_cast<JQuaternion3D&>(*this);
    }

void JGEOMETRY3D::JQuaternion3D::setQuaternion ( const JQuaternion3D &  quaternion )

inlineinherited

Set quaternion.

Parameters

quaternion

quaternion

Definition at line 498 of file JQuaternion3D.hh.

    {
      static_cast<JQuaternion3D&>(*this) = quaternion;
    }

JGEOMETRY3D::JQuaternion3D::operator JVector3D ( ) const

inlineinherited

Type conversion operator.

Returns

position

Definition at line 509 of file JQuaternion3D.hh.

    {
      return JVector3D(this->getB(), this->getC(), this->getD());
    }

JGEOMETRY3D::JQuaternion3D::operator JVersor3D ( ) const

inlineinherited

Type conversion operator.

Returns

direction

Definition at line 520 of file JQuaternion3D.hh.

    {
      return JVersor3D(this->getB(), this->getC(), this->getD());
    }

double JGEOMETRY3D::JQuaternion3D::getAngle ( ) const

inlineinherited

Get rotation angle.

Returns

angle [rad]

Definition at line 531 of file JQuaternion3D.hh.

    {
      return atan2(sqrt(this->getB()*this->getB() +
                        this->getC()*this->getC() +
                        this->getD()*this->getD()),
                   this->getA()) * 2.0;
    }

double JGEOMETRY3D::JQuaternion3D::getA ( ) const

inlineinherited

Get a value.

Returns

a value

Definition at line 545 of file JQuaternion3D.hh.

    { 
      return __a;
    }

double JGEOMETRY3D::JQuaternion3D::getB ( ) const

inlineinherited

Get b value.

Returns

b value

Definition at line 556 of file JQuaternion3D.hh.

    { 
      return __b;
    }

double JGEOMETRY3D::JQuaternion3D::getC ( ) const

inlineinherited

Get c value.

Returns

c value

Definition at line 567 of file JQuaternion3D.hh.

    { 
      return __c;
    }

double JGEOMETRY3D::JQuaternion3D::getD ( ) const

inlineinherited

Get d value.

Returns

d value

Definition at line 578 of file JQuaternion3D.hh.

    { 
      return __d;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::setIdentity ( )

inlineinherited

Set to identity quaternion.

Returns

this quaternion

Definition at line 589 of file JQuaternion3D.hh.

    {
      __a = 1.0;
      __b = 0.0;
      __c = 0.0;
      __d = 0.0;

      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::conjugate ( )

inlineinherited

Conjugate quaternion.

Returns

this quaternion

Definition at line 605 of file JQuaternion3D.hh.

    {
      __b = -__b;
      __c = -__c;
      __d = -__d;

      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::negate ( )

inlineinherited

Negate quaternion.

Returns

this quaternion

Definition at line 620 of file JQuaternion3D.hh.

    {
      __a = -__a;
      __b = -__b;
      __c = -__c;
      __d = -__d;

      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::add ( const JQuaternion3D &  quaternion )

inlineinherited

Add quaternion.

Parameters

quaternion

quaternion

Returns

this quaternion

Definition at line 637 of file JQuaternion3D.hh.

    {
      __a += quaternion.getA();
      __b += quaternion.getB();
      __c += quaternion.getC();
      __d += quaternion.getD();

      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::sub ( const JQuaternion3D &  quaternion )

inlineinherited

Subtract quaternion.

Parameters

quaternion

quaternion

Returns

this quaternion

Definition at line 654 of file JQuaternion3D.hh.

    {
      __a -= quaternion.getA();
      __b -= quaternion.getB();
      __c -= quaternion.getC();
      __d -= quaternion.getD();

      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::mul ( const double  factor )

inlineinherited

Scale quaternion.

Parameters

factor

multiplication factor

Returns

this quaternion

Definition at line 671 of file JQuaternion3D.hh.

    {
      __a *= factor;
      __b *= factor;
      __c *= factor;
      __d *= factor;

      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::mul ( const JQuaternion3D &  first, const JQuaternion3X &  second  )

inlineinherited

Quaternion multiplication.

This method evaluates the Hamilton product (also called cross product).

Parameters

first	first quaternion
second	second quaternion

Returns

this quaternion

Definition at line 708 of file JQuaternion3D.hh.

    {
      __a =  first.getA() * second.getA() - first.getB() * second.getB();
      __b =  first.getA() * second.getB() + first.getB() * second.getA();
      __c =  first.getC() * second.getA() + first.getD() * second.getB();
      __d = -first.getC() * second.getB() + first.getD() * second.getA();
      
      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::mul ( const JQuaternion3D &  first, const JQuaternion3Y &  second  )

inlineinherited

Quaternion multiplication.

This method evaluates the Hamilton product (or cross product).

Parameters

first	first quaternion
second	second quaternion

Returns

this quaternion

Definition at line 728 of file JQuaternion3D.hh.

    {
      __a =  first.getA() * second.getA() - first.getC() * second.getC();
      __b =  first.getB() * second.getA() - first.getD() * second.getC();
      __c =  first.getA() * second.getC() + first.getC() * second.getA();
      __d =  first.getB() * second.getC() + first.getD() * second.getA();
      
      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::mul ( const JQuaternion3D &  first, const JQuaternion3Z &  second  )

inlineinherited

Quaternion multiplication.

This method evaluates the Hamilton product (or cross product).

Parameters

first	first quaternion
second	second quaternion

Returns

this quaternion

Definition at line 749 of file JQuaternion3D.hh.

    {
      __a =  first.getA() * second.getA() - first.getD() * second.getD();
      __b =  first.getB() * second.getA() + first.getC() * second.getD();
      __c = -first.getB() * second.getD() + first.getC() * second.getA();
      __d =  first.getA() * second.getD() + first.getD() * second.getA();
      
      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::mul ( const JQuaternion3D &  first, const JQuaternion3D &  second  )

inlineinherited

Quaternion multiplication.

This method evaluates the Hamilton product (or cross product).

Parameters

first	first quaternion
second	second quaternion

Returns

this quaternion

Definition at line 770 of file JQuaternion3D.hh.

    {
      __a = first.getA() * second.getA() - first.getB() * second.getB() - first.getC() * second.getC() - first.getD() * second.getD();
      __b = first.getA() * second.getB() + first.getB() * second.getA() + first.getC() * second.getD() - first.getD() * second.getC();
      __c = first.getA() * second.getC() - first.getB() * second.getD() + first.getC() * second.getA() + first.getD() * second.getB();
      __d = first.getA() * second.getD() + first.getB() * second.getC() - first.getC() * second.getB() + first.getD() * second.getA();
      
      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::mul ( const JQuaternion3X &  qx, const JQuaternion3Y &  qy, const JQuaternion3Z &  qz  )

inlineinherited

Quaternion multiplication.

Parameters

qx	rotation around x-axis
qy	rotation around y-axis
qz	rotation around x-axis

Returns

this quaternion

Definition at line 790 of file JQuaternion3D.hh.

    {
      return *this = JQuaternion3D().setIdentity().mul(qz).mul(qy).mul(qx);
    }

template<class JFirst_t, class JSecond_t = JNullType>

JFirst_t& JMATH::JMath< JFirst_t, JSecond_t >::mul ( const JSecond_t &  object )

inlineinherited

Multiply with object.

Parameters

object

object

Returns

result object

Definition at line 357 of file JMath.hh.

    {
      return static_cast<JFirst_t&>(*this) = JCalculator<JFirst_t>::calculator.mul(static_cast<const JFirst_t&>(*this), object);
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::div ( const double  factor )

inlineinherited

Scale quaternion.

Parameters

factor

division factor

Returns

this quaternion

Definition at line 688 of file JQuaternion3D.hh.

    {
      __a /= factor;
      __b /= factor;
      __c /= factor;
      __d /= factor;

      return *this;
    }

void JGEOMETRY3D::JQuaternion3D::rotate ( double &  __x, double &  __y, double &  __z  ) const

inlineinherited

Rotate.

Parameters

__x	x value
__y	y value
__z	z value

Definition at line 805 of file JQuaternion3D.hh.

    {
      const double qx = 2.0 * (__c*__z - __d*__y);
      const double qy = 2.0 * (__d*__x - __b*__z);
      const double qz = 2.0 * (__b*__y - __c*__x);

      __x = __x + __c*qz - __d*qy + __a*qx;
      __y = __y - __b*qz + __a*qy + __d*qx;
      __z = __z + __a*qz + __b*qy - __c*qx;
    }

void JGEOMETRY3D::JQuaternion3D::rotate_back ( double &  __x, double &  __y, double &  __z  ) const

inlineinherited

Rotate back.

Parameters

__x	x value
__y	y value
__z	z value

Definition at line 824 of file JQuaternion3D.hh.

    {
      const double qx = 2.0 * (__d*__y - __c*__z);
      const double qy = 2.0 * (__b*__z - __d*__x);
      const double qz = 2.0 * (__c*__x - __b*__y);

      __x = __x - __c*qz + __d*qy + __a*qx;
      __y = __y + __b*qz + __a*qy - __d*qx;
      __z = __z + __a*qz - __b*qy + __c*qx;
    }

bool JGEOMETRY3D::JQuaternion3D::equals ( const JQuaternion3D &  quaternion, const double  precision = std::numeric_limits<double>::min()  ) const

inlineinherited

Check equality.

Parameters

quaternion	quaternion
precision	numerical precision

Returns

true if quaternions are equal; else false

Definition at line 843 of file JQuaternion3D.hh.

    {
      return (fabs(getA() - quaternion.getA()) <= precision && 
              fabs(getB() - quaternion.getB()) <= precision &&
              fabs(getC() - quaternion.getC()) <= precision &&
              fabs(getD() - quaternion.getD()) <= precision);
    }

bool JGEOMETRY3D::JQuaternion3D::isIdentity ( const double  precision = std::numeric_limits<double>::min() ) const

inlineinherited

Test identity.

Parameters

precision

precision

Returns

true if identity quaternion; else false

Definition at line 859 of file JQuaternion3D.hh.

    {
      if (fabs(getA()) <= precision) {

        if (fabs(getB()) <= precision)
          return ((fabs(getC())       <= precision && fabs(fabs(getD()) - 1.0) <= precision)  ||
                  (fabs(fabs(getC()) - 1.0) <= precision && fabs(getD())       <= precision));
        else
          return (fabs(fabs(getB()) - 1.0) <= precision && 
                  fabs(getC())             <= precision &&
                  fabs(getD())             <= precision);

      } else {

        return (fabs(fabs(getA()) - 1.0) <= precision && 
                fabs(getB())             <= precision &&
                fabs(getC())             <= precision &&
                fabs(getD())             <= precision);
      }
    }

double JGEOMETRY3D::JQuaternion3D::getLengthSquared ( ) const

inlineinherited

Get length squared.

Returns

square of length

Definition at line 886 of file JQuaternion3D.hh.

    { 
      return getA()*getA() + getB()*getB() + getC()*getC() + getD()*getD();
    }

double JGEOMETRY3D::JQuaternion3D::getLength ( ) const

inlineinherited

Get length.

Returns

length

Definition at line 897 of file JQuaternion3D.hh.

    { 
      return sqrt(getLengthSquared());
    }

double JGEOMETRY3D::JQuaternion3D::getDistanceSquared ( const JQuaternion3D &  quaternion ) const

inlineinherited

Get squared of distance to quaternion.

Parameters

quaternion

quaternion

Returns

square of distance

Definition at line 909 of file JQuaternion3D.hh.

    {
      return JQuaternion3D(quaternion).sub(*this).getLengthSquared();
    }

double JGEOMETRY3D::JQuaternion3D::getDistance ( const JQuaternion3D &  quaternion ) const

inlineinherited

Get distance to quaternion.

Parameters

quaternion

quaternion

Returns

distance

Definition at line 921 of file JQuaternion3D.hh.

    {
      return sqrt(getDistanceSquared(quaternion));
    }

double JGEOMETRY3D::JQuaternion3D::getDot ( const JQuaternion3D &  quaternion ) const

inlineinherited

Get dot product.

Parameters

quaternion

quaternion

Returns

dot product

Definition at line 933 of file JQuaternion3D.hh.

    {
      return
        getA() * quaternion.getA() -
        getB() * quaternion.getB() -
        getC() * quaternion.getC() -
        getD() * quaternion.getD();
    }

JQuaternion3D JGEOMETRY3D::JQuaternion3D::getConjugate ( ) const

inlineinherited

Get conjugate of this quaternion.

Returns

conjugate quaternion

Definition at line 948 of file JQuaternion3D.hh.

    {
      return JQuaternion3D(*this).conjugate();
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::normalise ( )

inlineinherited

Normalise quaternion.

Returns

this quaternion

Definition at line 959 of file JQuaternion3D.hh.

    {
      const double v = getLength();

      if (v != 0.0) {
        mul(1.0 / v);
      }

      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::pow ( const double  y )

inlineinherited

Raise quaternion to given power.

Parameters

y

power

Returns

this object

Definition at line 977 of file JQuaternion3D.hh.

    {
      const double v = sqrt(getB() * getB()  +
                            getC() * getC()  +
                            getD() * getD());

      if (v != 0.0) {

        const JVersor3D u(getB(), getC(), getD());

        const double theta = atan2(v, getA());

        *this = JQuaternion3D(2.0 * theta * y, u);
      }

      return *this;
    }

JQuaternion3D& JGEOMETRY3D::JQuaternion3D::interpolate ( const JQuaternion3D &  object, const double  alpha  )

inlineinherited

Interpolation between quaternions.

The result is equal to *this = (1 - alpha) * (*this) + (alpha) * (object).

Parameters

object	object
alpha	interpolation factor [0, 1]

Returns

this object

Definition at line 1004 of file JQuaternion3D.hh.

    {
      const double MAXIMAL_DOT_PRODUCT = 0.9995;
      
      JQuaternion3D v0(*this);
      JQuaternion3D v1(object);

      v0.normalise();
      v1.normalise();

      double dot = v0.getDot(v1);

      if (dot < 0.0) {
        v1  = -v1;
        dot = -dot;
      }

      double s1 = alpha;
      double s0 = 1.0 - alpha;

      if (dot <= MAXIMAL_DOT_PRODUCT) {

        const double theta_0 = acos(dot);
        const double theta_1 = theta_0 * alpha;
      
        s1 = sin(theta_1) / sin(theta_0);
        s0 = cos(theta_1) - dot * s1;
      }

      *this = (s0 * v0)  +  (s1 * v1);

      return normalise();
    }

Member Data Documentation

double JCOMPASS::JHit::z

protected

Definition at line 78 of file JCompass/JHit.hh.

double JCOMPASS::JHit::sigma

protected

Definition at line 79 of file JCompass/JHit.hh.

int JLANG::JObjectID::__id

protectedinherited

Definition at line 140 of file JObjectID.hh.

double JGEOMETRY3D::JQuaternion3D::__a

protectedinherited

Definition at line 1115 of file JQuaternion3D.hh.

double JGEOMETRY3D::JQuaternion3D::__b

protectedinherited

Definition at line 1116 of file JQuaternion3D.hh.

double JGEOMETRY3D::JQuaternion3D::__c

protectedinherited

Definition at line 1117 of file JQuaternion3D.hh.

double JGEOMETRY3D::JQuaternion3D::__d

protectedinherited

Definition at line 1118 of file JQuaternion3D.hh.

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The documentation for this struct was generated from the following file:

• JCompass/JHit.hh