This class is the base class for all perspective pose classes. More...

Inheritance diagram for Ocean::Geometry::PerspectivePose:

Static Protected Member Functions
template<typename T >
static bool	calculateCosineSolutions (const T x1, const T x1_2, const T cos12, const T d12_2, T &x2a, T &x2b)
	Calculates the two possible solutions for the law of cosines. More...

template<typename T >
static T	calculateCosineResults (const T x1, const T x1_2, const T x2, const T x2_2, const T cos12, const T d12_2)
	Returns the result of the law of cosines. More...

Detailed Description

This class is the base class for all perspective pose classes.

Member Function Documentation

template<typename T >

T Ocean::Geometry::PerspectivePose::calculateCosineResults	(	const T	x1,
		const T	x1_2,
		const T	x2,
		const T	x2_2,
		const T	cos12,
		const T	d12_2
	)

inlinestaticprotected

Returns the result of the law of cosines.

For valid parameters this result should be zero. The law is: 0 = x1^2 + x2^2 - 2 * x1 * x2 * cos12 - d12^2

Parameters

x1	First leg distance
x1_2	Square of the first leg distance
x2	Second leg distance
x2_2	Square of the second leg distance
cos12	Cosine value of the angle between the two legs
d12_2	Square of the far distance

Template Parameters

T	The data type of the scalar

template<typename T >

static bool Ocean::Geometry::PerspectivePose::calculateCosineSolutions	(	const T	x1,
		const T	x1_2,
		const T	cos12,
		const T	d12_2,
		T &	x2a,
		T &	x2b
	)

staticprotected

Calculates the two possible solutions for the law of cosines.

Parameters

x1	First leg distance
x1_2	Square of the first leg distance
cos12	Cosine value of the angle between the two legs
d12_2	Square of the far distance
x2a	First solution of the second leg distance
x2b	Second solution of the second leg distance

Template Parameters

T	The data type of the scalar

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