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Linear fit of crossing point (position) between axes (objects with position and direction). More...
#include <JPoint3DEstimator.hh>
  
Public Types | |
| typedef double JPoint3D::* | parameter_type | 
Public Member Functions | |
| template<class T > | |
| JEstimator (T __begin, T __end) | |
| Constructor.   | |
| const JPosition3D & | getPosition () const | 
| Get position.   | |
| JPosition3D & | getPosition () | 
| Get position.   | |
| void | setPosition (const JVector3D &pos) | 
| Set position.   | |
| operator JAngle3D () const | |
| Type conversion operator.   | |
| operator JVersor3D () const | |
| Type conversion operator.   | |
| JPosition3D & | rotate (const JRotation3D &R) | 
| Rotate.   | |
| JPosition3D & | rotate (const JRotation3X &R) | 
| Rotate around X-axis.   | |
| JPosition3D & | rotate (const JRotation3Y &R) | 
| Rotate around Y-axis.   | |
| JPosition3D & | rotate (const JRotation3Z &R) | 
| Rotate around Z-axis.   | |
| JPosition3D & | rotate (const JQuaternion3D &Q) | 
| Rotate.   | |
| JPosition3D & | rotate_back (const JRotation3D &R) | 
| Rotate back.   | |
| JPosition3D & | rotate_back (const JRotation3X &R) | 
| Rotate back around X-axis.   | |
| JPosition3D & | rotate_back (const JRotation3Y &R) | 
| Rotate back around Y-axis.   | |
| JPosition3D & | rotate_back (const JRotation3Z &R) | 
| Rotate back around Z-axis.   | |
| JPosition3D & | rotate_back (const JQuaternion3D &Q) | 
| Rotate back.   | |
| void | transform (const JRotation3D &R, const JVector3D &pos) | 
| Transform position.   | |
| JVector3D & | transform (const JMatrix3D &T) | 
| Transform.   | |
| void | transform_back (const JRotation3D &R, const JVector3D &pos) | 
| Transform back position.   | |
| double | getDot (const JAngle3D &angle) const | 
| Get dot product.   | |
| double | getDot (const JVersor3D &dir) const | 
| Get dot product.   | |
| double | getDot (const JVersor3Z &dir) const | 
| Get dot product.   | |
| double | getDot (const JVector3D &vector) const | 
| Get dot product.   | |
| operator JVector2D () const | |
| Type conversion operator.   | |
| double | getX () const | 
| Get x position.   | |
| double | getY () const | 
| Get y position.   | |
| double | getZ () const | 
| Get z position.   | |
| JVector3D & | negate () | 
| Negate vector.   | |
| JVector3D & | add (const JVector3D &vector) | 
| Add vector.   | |
| JVector3D & | sub (const JVector3D &vector) | 
| Subtract vector.   | |
| JVector3D & | mul (const double factor) | 
| Scale vector.   | |
| JFirst_t & | mul (const JSecond_t &object) | 
| Multiply with object.   | |
| JVector3D & | div (const double factor) | 
| Scale vector.   | |
| bool | equals (const JVector3D &vector, const double precision=std::numeric_limits< double >::min()) const | 
| Check equality.   | |
| double | getLengthSquared () const | 
| Get length squared.   | |
| double | getLength () const | 
| Get length.   | |
| double | getDistanceSquared (const JVector3D &pos) const | 
| Get squared of distance to point.   | |
| double | getDistance (const JVector3D &pos) const | 
| Get distance to point.   | |
| JVector3D & | getCross (const JVector3D &first, const JVector3D &second) | 
| Get cross product.   | |
Static Public Member Functions | |
| static parameter_type | pX () | 
| static parameter_type | pY () | 
| static parameter_type | pZ () | 
Public Attributes | |
| JMATH::JMatrix3S | V | 
| co-variance matrix of fit parameters   | |
Static Public Attributes | |
| static const int | NUMBER_OF_PARAMETERS = 3 | 
| number of parameters of fit   | |
Protected Attributes | |
| double | __x | 
| double | __y | 
| double | __z | 
Linear fit of crossing point (position) between axes (objects with position and direction).
![\begin{center}\setlength{\unitlength}{0.6cm}\begin{picture}(12,12)
\put( 5.0, 5.0){\circle*{0.3}}
\put( 4.0, 5.0){\makebox(0,0)[r]{$(x_{0},y_{0},z_{0})$}}
\multiput( 5.0, 5.0)(+0.2, 0.0){18}{\makebox(0,0)[c]{.}}
\put( 9.0, 5.0){\circle*{0.2}}
\put( 9.0, 5.0){\vector(+1, 0){0.7}}
\put(10.0, 5.0){\makebox(0,0)[l]{$(\bar{x}_j,\hat{u}_j)$}}
\multiput( 5.0, 5.0)(-0.2,+0.2){18}{\makebox(0,0)[c]{.}}
\put( 1.0, 9.0){\circle*{0.2}}
\put( 1.0, 9.0){\vector(-1,+1){0.6}}
\put( 0.0,10.0){\makebox(0,0)[r]{$(\bar{x}_k,\hat{u}_k)$}}
\multiput( 5.0, 5.0)(-0.2,-0.2){18}{\makebox(0,0)[c]{.}}
\put( 1.0, 1.0){\circle*{0.2}}
\put( 1.0, 1.0){\vector(-1,-1){0.6}}
\put( 0.0, 0.0){\makebox(0,0)[r]{$(\bar{x}_i,\hat{u}_i)$}}
\end{picture}
\end{center}](form_27.png)
where:

The parameters 
Definition at line 55 of file JPoint3DEstimator.hh.
      
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  inherited | 
Definition at line 34 of file JPoint3D.hh.
      
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  inline | 
Constructor.
The template argument T refers to an iterator of a data structure which should have the following member methods:
| __begin | begin of data | 
| __end | end of data | 
Definition at line 74 of file JPoint3DEstimator.hh.
      
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  inlinestaticinherited | 
Definition at line 36 of file JPoint3D.hh.
      
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  inlinestaticinherited | 
Definition at line 37 of file JPoint3D.hh.
      
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  inlinestaticinherited | 
Definition at line 38 of file JPoint3D.hh.
      
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  inlineinherited | 
      
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  inlineinherited | 
      
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  inlineinherited | 
      
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  inlineinherited | 
      
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  inlineinherited | 
      
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  inlineinherited | 
Rotate.
| R | rotation matrix | 
Definition at line 186 of file JPosition3D.hh.
      
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  inlineinherited | 
Rotate around X-axis.
| R | rotation matrix | 
Definition at line 214 of file JPosition3D.hh.
      
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  inlineinherited | 
Rotate around Y-axis.
| R | rotation matrix | 
Definition at line 242 of file JPosition3D.hh.
      
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  inlineinherited | 
Rotate around Z-axis.
| R | rotation matrix | 
Definition at line 270 of file JPosition3D.hh.
      
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  inlineinherited | 
      
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  inlineinherited | 
Rotate back.
| R | rotation matrix | 
Definition at line 200 of file JPosition3D.hh.
      
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  inlineinherited | 
Rotate back around X-axis.
| R | rotation matrix | 
Definition at line 228 of file JPosition3D.hh.
      
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  inlineinherited | 
Rotate back around Y-axis.
| R | rotation matrix | 
Definition at line 256 of file JPosition3D.hh.
      
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  inlineinherited | 
Rotate back around Z-axis.
| R | rotation matrix | 
Definition at line 284 of file JPosition3D.hh.
      
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  inlineinherited | 
Rotate back.
| Q | quaternion | 
Definition at line 312 of file JPosition3D.hh.
      
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  inlineinherited | 
Transform position.
The final position is obtained as follows:
| R | rotation matrix | 
| pos | position of origin (after rotation) | 
Definition at line 331 of file JPosition3D.hh.
      
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  inlineinherited | 
Transform back position.
The final position is obtained as follows:
| R | rotation matrix | 
| pos | position of origin (before rotation) | 
Definition at line 359 of file JPosition3D.hh.
      
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  inlineinherited | 
Get dot product.
| angle | angle | 
Definition at line 378 of file JPosition3D.hh.
      
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  inlineinherited | 
Get dot product.
| dir | direction | 
Definition at line 393 of file JPosition3D.hh.
      
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  inlineinherited | 
Get dot product.
| dir | direction | 
Definition at line 408 of file JPosition3D.hh.
      
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  inlineinherited | 
Get dot product.
| vector | vector | 
Definition at line 282 of file JVector3D.hh.
      
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  inlineinherited | 
      
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  inlineinherited | 
      
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  inlineinherited | 
      
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  inlineinherited | 
      
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  inlineinherited | 
Subtract vector.
| vector | vector | 
Definition at line 158 of file JVector3D.hh.
      
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  inlineinherited | 
Scale vector.
| factor | multiplication factor | 
Definition at line 174 of file JVector3D.hh.
      
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  inlineinherited | 
      
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  inlineinherited | 
Scale vector.
| factor | division factor | 
Definition at line 190 of file JVector3D.hh.
      
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  inlineinherited | 
Check equality.
| vector | vector | 
| precision | precision | 
Definition at line 221 of file JVector3D.hh.
      
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  inlineinherited | 
      
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  inlineinherited | 
Get length.
Definition at line 246 of file JVector3D.hh.
      
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  inlineinherited | 
Get squared of distance to point.
| pos | position | 
Definition at line 258 of file JVector3D.hh.
      
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  inlineinherited | 
Get distance to point.
| pos | position | 
Definition at line 270 of file JVector3D.hh.
      
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  inlineinherited | 
Get cross product.
Note that this vector should not overlap with the first or second vector,
| first | first vector | 
| second | second vector | 
Definition at line 299 of file JVector3D.hh.
      
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  static | 
number of parameters of fit
Definition at line 128 of file JPoint3DEstimator.hh.
co-variance matrix of fit parameters
Definition at line 129 of file JPoint3DEstimator.hh.
      
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  protectedinherited | 
Definition at line 310 of file JVector3D.hh.
      
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  protectedinherited | 
Definition at line 311 of file JVector3D.hh.
      
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  protectedinherited | 
Definition at line 312 of file JVector3D.hh.