PLearn 0.1
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00001 // -*- C++ -*- 00002 00003 // geometry.h 00004 // 00005 // Copyright (C) 2006 Pascal Lamblin 00006 // 00007 // Redistribution and use in source and binary forms, with or without 00008 // modification, are permitted provided that the following conditions are met: 00009 // 00010 // 1. Redistributions of source code must retain the above copyright 00011 // notice, this list of conditions and the following disclaimer. 00012 // 00013 // 2. Redistributions in binary form must reproduce the above copyright 00014 // notice, this list of conditions and the following disclaimer in the 00015 // documentation and/or other materials provided with the distribution. 00016 // 00017 // 3. The name of the authors may not be used to endorse or promote 00018 // products derived from this software without specific prior written 00019 // permission. 00020 // 00021 // THIS SOFTWARE IS PROVIDED BY THE AUTHORS ``AS IS'' AND ANY EXPRESS OR 00022 // IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES 00023 // OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN 00024 // NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 00025 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 00026 // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 00027 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 00028 // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 00029 // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00030 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00031 // 00032 // This file is part of the PLearn library. For more information on the PLearn 00033 // library, go to the PLearn Web site at www.plearn.org 00034 00035 // Authors: Pascal Lamblin 00036 00040 #ifndef geometry_INC 00041 #define geometry_INC 00042 00043 // Put includes here 00044 #include <plearn/math/TVec_decl.h> 00045 #include <plearn/math/TMat_decl.h> 00046 00047 namespace PLearn { 00048 00049 // Put global function declarations here 00050 Vec anglesFromRotationMatrix( const Mat& rot ); 00051 Mat rotationMatrixFromAngles( real rx, real ry, real rz ); 00052 Mat rotationMatrixFromAngles( const Vec& angles ); 00053 Mat rotationMatrixFromAxisAngle( const Vec& K, real th ); 00054 00055 // points_in should be different from points_out 00056 void applyGeomTransformation( const Mat& rot, const Vec& trans, 00057 const Mat& points_in, Mat& points_out ); 00058 00059 void transformationFromWeightedMatchedPoints( const Mat& template_points, 00060 const Mat& mol_points, 00061 const Vec& weights, 00062 const Mat& rot, const Vec& trans, 00063 real& error ); 00064 00065 Vec weightedCentroid( const Mat& points, const Vec& weights ); 00066 00067 Mat rotationFromWeightedMatchedPoints( const Mat& template_points, 00068 const Mat& mol_points, 00069 const Vec& weights, 00070 real& error ); 00071 00072 00073 00074 } // end of namespace PLearn 00075 00076 #endif 00077 00078 00079 /* 00080 Local Variables: 00081 mode:c++ 00082 c-basic-offset:4 00083 c-file-style:"stroustrup" 00084 c-file-offsets:((innamespace . 0)(inline-open . 0)) 00085 indent-tabs-mode:nil 00086 fill-column:79 00087 End: 00088 */ 00089 // vim: filetype=cpp:expandtab:shiftwidth=4:tabstop=8:softtabstop=4:encoding=utf-8:textwidth=79 :