Template spacialisation for averaging quaternions. More...

#include <JEigen3D.hh>

Public Member Functions
	JAverage ()
	Default constructor.

template<class T >
	JAverage (T __begin, T __end)
	Constructor.

void	reset ()
	Reset.

	operator JQuaternion3D () const
	Type conversion operator.

void	put (const JQuaternion3D &Q, const double w=1.0)
	Put quaternion.

Static Public Attributes
static double	MINIMAL_EIGEN_VALUE
	Numerical precision for eigen value evaluation.

Private Attributes
TMatrixDSym	A

double	W

Detailed Description

Template spacialisation for averaging quaternions.

Definition at line 98 of file JEigen3D.hh.

Constructor & Destructor Documentation

◆ JAverage() [1/2]

JMATH::JAverage< JQuaternion3D >::JAverage ( )

inline

Default constructor.

Definition at line 108 of file JEigen3D.hh.

               :
      A(4),
      W(0.0)
    {}

◆ JAverage() [2/2]

template<class T >

JMATH::JAverage< JQuaternion3D >::JAverage	(	T	__begin,
		T	__end )

inline

Constructor.

Parameters

__begin	begin of data
__end	end of data

Definition at line 121 of file JEigen3D.hh.

                                 :
      A(4),
      W(0.0)
    {
      for (T i = __begin; i != __end; ++i) {
        this->put(*i);
      }
    }

Member Function Documentation

◆ reset()

void JMATH::JAverage< JQuaternion3D >::reset ( )

inline

Reset.

Definition at line 134 of file JEigen3D.hh.

    {
      A = 0.0;
      W = 0.0;
    }

◆ operator JQuaternion3D()

JMATH::JAverage< JQuaternion3D >::operator JQuaternion3D ( ) const

inline

Type conversion operator.

Returns: quaternion

Definition at line 146 of file JEigen3D.hh.

    {
      JQuaternion3D Q;
 
      const TMatrixDSymEigen result(A);
 
      const TVectorD& u = result.GetEigenValues();
      const TMatrixD& V = result.GetEigenVectors();
 
      if (u.GetNoElements() != 0 && fabs(u[0]) > MINIMAL_EIGEN_VALUE) {
        
        Q = JQuaternion3D(V(0,0), V(1,0), V(2,0), V(3,0));
 
        if (Q.getA() < 0.0) {
          Q.negate();
        }
        
        Q.pow(u[0] / W);
 
      } else {
 
        //THROW(JDivisionByZero, "Invalid eigen value.");
      }
 
      return Q;
    }

◆ put()

void JMATH::JAverage< JQuaternion3D >::put	(	const JQuaternion3D &	Q,
		const double	w = 1.0 )

inline

Put quaternion.

Parameters

Q	quaternion
w	weight

Definition at line 180 of file JEigen3D.hh.

    {
      TMatrixDSym a(4);
 
      a(0,0) = Q.getA()*Q.getA();  a(0,1) = Q.getA()*Q.getB();  a(0,2) = Q.getA()*Q.getC();  a(0,3) = Q.getA()*Q.getD();
      a(1,0) = a(0,1);             a(1,1) = Q.getB()*Q.getB();  a(1,2) = Q.getB()*Q.getC();  a(1,3) = Q.getB()*Q.getD();
      a(2,0) = a(0,2);             a(2,1) = a(1,2);             a(2,2) = Q.getC()*Q.getC();  a(2,3) = Q.getC()*Q.getD();
      a(3,0) = a(0,3);             a(3,1) = a(1,3);             a(3,2) = a(2,3);             a(3,3) = Q.getD()*Q.getD();
 
      a *= w;
      A += a;
      W += w*w;
    }