Template spacialisation for averaging quaternions. More...

#include <JEigen3D.hh>

Public Member Functions
	JAverage ()
	Default constructor. More...

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

void	reset ()
	Reset. More...

	operator JQuaternion3D () const
	Type conversion operator. More...

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

Static Public Attributes
static double	MINIMAL_EIGEN_VALUE = 1.0e-8
	Numerical precision for eigen value evaluation. More...

Private Attributes
TMatrixDSym	A

double	W

Detailed Description

template<>
struct JMATH::JAverage< JQuaternion3D >

Template spacialisation for averaging quaternions.

Definition at line 98 of file JEigen3D.hh.

Constructor & Destructor Documentation

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

inline

Default constructor.

Definition at line 108 of file JEigen3D.hh.

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

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

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

inline

Reset.

Definition at line 134 of file JEigen3D.hh.

     {
       A = 0.0;
       W = 0.0;
     }

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;
     }

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;
     }