fcl::Variance3f Class Reference

Class for variance matrix in 3d. More...

#include <hpp/fcl/math/matrix_3f.h>

Collaboration diagram for fcl::Variance3f:

Public Member Functions
	Variance3f ()
	Variance3f (const Matrix3f &S)
void	init ()
	init the Variance More...
Variance3f &	sqrt ()
	Compute the sqrt of Sigma matrix based on the eigen decomposition result, this is useful when the uncertainty matrix is initialized as a square variation matrix. More...

Public Attributes
Matrix3f	Sigma
	Variation matrix. More...
Matrix3f::U	sigma [3]
	Variations along the eign axes. More...
Vec3f	axis [3]
	Eigen axes of the variation matrix. More...

Detailed Description

Class for variance matrix in 3d.

Constructor & Destructor Documentation

fcl::Variance3f::Variance3f ( )

inline

fcl::Variance3f::Variance3f ( const Matrix3f &  S )

inline

References init().

Member Function Documentation

void fcl::Variance3f::init ( )

inline

init the Variance

References fcl::eigen().

Referenced by Variance3f().

Variance3f& fcl::Variance3f::sqrt ( )

inline

Compute the sqrt of Sigma matrix based on the eigen decomposition result, this is useful when the uncertainty matrix is initialized as a square variation matrix.

References fcl::Matrix3fX< T >::setZero(), and Sigma.

Member Data Documentation

Vec3f fcl::Variance3f::axis[3]

Eigen axes of the variation matrix.

Referenced by fcl::BVHExpand().

Matrix3f fcl::Variance3f::Sigma

Variation matrix.

Referenced by sqrt().

Matrix3f::U fcl::Variance3f::sigma[3]

Variations along the eign axes.

Referenced by fcl::BVHExpand().