maspack.geometry
Class CovarianceUtils

java.lang.Object
  extended by maspack.geometry.CovarianceUtils

public class CovarianceUtils
extends java.lang.Object

Set of utility methods to compute and transform Covariances.


Constructor Summary
CovarianceUtils()
           
 
Method Summary
static void addScaledPointCovariance(Matrix3d C, double s, Point3d p)
           
static double addTriangleCovariance(Matrix3d C, Point3d p0, Point3d p1, Point3d p2)
           
static double computeLineSegmentCovariance(Matrix3d C, Point3d p0, Point3d p1)
           
static void computePointCovariance(Matrix3d C, Point3d p)
           
static void transformCovariance(Matrix3d CT, Matrix3d C, Point3d cent, double a, RigidTransform3d T)
          Transforms a covariance matrix into a new coordinate system, given its associated centroid 'area' (or volume).
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CovarianceUtils

public CovarianceUtils()
Method Detail

computePointCovariance

public static void computePointCovariance(Matrix3d C,
                                          Point3d p)

addScaledPointCovariance

public static void addScaledPointCovariance(Matrix3d C,
                                            double s,
                                            Point3d p)

computeLineSegmentCovariance

public static double computeLineSegmentCovariance(Matrix3d C,
                                                  Point3d p0,
                                                  Point3d p1)

addTriangleCovariance

public static double addTriangleCovariance(Matrix3d C,
                                           Point3d p0,
                                           Point3d p1,
                                           Point3d p2)

transformCovariance

public static void transformCovariance(Matrix3d CT,
                                       Matrix3d C,
                                       Point3d cent,
                                       double a,
                                       RigidTransform3d T)
Transforms a covariance matrix into a new coordinate system, given its associated centroid 'area' (or volume).

Parameters:
CT - returns the transformed covariance
C - covariance to transform
cent - centroid associated with the covariance (in old coordinates)
a - area (or length or volume) associated with the covariance
T - transformation from old to new coordinates