JCOMPASS::JHit Struct Reference

Hit. More...

#include <JHit.hh>

Inheritance diagram for JCOMPASS::JHit:

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

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

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

JHit() [1/2]

JCOMPASS::JHit::JHit ( )

inline

Default constructor.

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

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

JHit() [2/2]

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

getZ()

double JCOMPASS::JHit::getZ ( ) const

inline

Get z-position.

Returns

z-position

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

    {
      return z;
    }

getSigma()

double JCOMPASS::JHit::getSigma ( ) const

inline

Get resolution.

Returns

sigma

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

    {
      return sigma;
    }

getID() [1/2]

int JLANG::JObjectID::getID ( ) const

inlineinherited

Get identifier.

Returns

identifier

Definition at line 50 of file JObjectID.hh.

    { 
      return __id;
    }

getID() [2/2]

int & JLANG::JObjectID::getID ( )

inlineinherited

Get identifier.

Returns

identifier

Definition at line 61 of file JObjectID.hh.

    { 
      return __id;
    }

setID()

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

inlineinherited

Set identifier.

Parameters

id	identifier

Definition at line 72 of file JObjectID.hh.

    { 
      this->__id = id;
    }

less() [1/2]

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();
    }

less() [2/2]

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;
    }

more()

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;
    }

getIdentity()

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;
    }

getQuaternion() [1/2]

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);
    }

getQuaternion() [2/2]

JQuaternion3D & JGEOMETRY3D::JQuaternion3D::getQuaternion ( )

inlineinherited

Get quaternion.

Returns

quaternion

Definition at line 487 of file JQuaternion3D.hh.

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

setQuaternion()

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;
    }

operator JVector3D()

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());
    }

operator JVersor3D()

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());
    }

getAngle()

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;
    }

getA()

double JGEOMETRY3D::JQuaternion3D::getA ( ) const

inlineinherited

Get a value.

Returns

a value

Definition at line 545 of file JQuaternion3D.hh.

    { 
      return __a;
    }

getB()

double JGEOMETRY3D::JQuaternion3D::getB ( ) const

inlineinherited

Get b value.

Returns

b value

Definition at line 556 of file JQuaternion3D.hh.

    { 
      return __b;
    }

getC()

double JGEOMETRY3D::JQuaternion3D::getC ( ) const

inlineinherited

Get c value.

Returns

c value

Definition at line 567 of file JQuaternion3D.hh.

    { 
      return __c;
    }

getD()

double JGEOMETRY3D::JQuaternion3D::getD ( ) const

inlineinherited

Get d value.

Returns

d value

Definition at line 578 of file JQuaternion3D.hh.

    { 
      return __d;
    }

setIdentity()

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;
    }

conjugate()

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;
    }

negate()

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;
    }

add()

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;
    }

sub()

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;
    }

mul() [1/7]

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;
    }

mul() [2/7]

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;
    }

mul() [3/7]

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;
    }

mul() [4/7]

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;
    }

mul() [5/7]

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;
    }

mul() [6/7]

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);
    }

mul() [7/7]

template<class JFirst_t , class JSecond_t >

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 354 of file JMath.hh.

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

div()

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;
    }

rotate()

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;
    }

rotate_back()

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;
    }

equals()

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);
    }

isIdentity()

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);
      }
    }

getLengthSquared()

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();
    }

getLength()

double JGEOMETRY3D::JQuaternion3D::getLength ( ) const

inlineinherited

Get length.

Returns

length

Definition at line 897 of file JQuaternion3D.hh.

    { 
      return sqrt(getLengthSquared());
    }

getDistanceSquared()

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();
    }

getDistance()

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));
    }

getDot()

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();
    }

getConjugate()

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();
    }

normalise()

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;
    }

pow()

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;
    }

interpolate()

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

z

double JCOMPASS::JHit::z

protected

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

sigma

double JCOMPASS::JHit::sigma

protected

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

__id

int JLANG::JObjectID::__id

protectedinherited

Definition at line 140 of file JObjectID.hh.

__a

double JGEOMETRY3D::JQuaternion3D::__a

protectedinherited

Definition at line 1117 of file JQuaternion3D.hh.

__b

double JGEOMETRY3D::JQuaternion3D::__b

protectedinherited

Definition at line 1118 of file JQuaternion3D.hh.

__c

double JGEOMETRY3D::JQuaternion3D::__c

protectedinherited

Definition at line 1119 of file JQuaternion3D.hh.

__d

double JGEOMETRY3D::JQuaternion3D::__d

protectedinherited

Definition at line 1120 of file JQuaternion3D.hh.

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

• JCompass/JHit.hh