osgExtension::MatrixEstimate Class Reference

defines the estimate of the matrix More...

Public Types
enum	{ N = 16 }
Public Member Functions
	MatrixEstimate ()
void	getMatrix (osg::Matrix &m) const
void	setMatrix (const osg::Matrix &m)
bool	getPerfectlyKnown () const
void	setPerfectlyKnown (bool newPerfectlyKnown)
bool	isInfinite () const
void	setInfinite (bool infinite)
void	setTrans (const osg::Vec3 &v)
void	setTrans (const osg::Vec3 &v, const boost::numeric::ublas::matrix< double > &PV)
osg::Vec3	getTrans () const
void	getTrans (osg::Vec3 &v) const
void	set (const osg::Quat &q)
void	set (const osg::Quat &q, const boost::numeric::ublas::matrix< double > &PQ)
void	get (osg::Quat &quat) const
void	makeFrustum (double left, double right, double bottom, double top, double zNear, double zFar)
void	makeFrustum (double left, double right, double bottom, double top, double zNear, double zFar, const boost::numeric::ublas::matrix< double > &PF)
void	makeOrtho (double left, double right, double bottom, double top, double zNear, double zFar)
void	makeOrtho (double left, double right, double bottom, double top, double zNear, double zFar, const boost::numeric::ublas::matrix< double > &PO)
void	makeOrtho2D (double left, double right, double bottom, double top)
void	makeOrtho2D (double left, double right, double bottom, double top, const boost::numeric::ublas::matrix< double > &PO2)
void	makePerspective (double fovy, double aspectRatio, double zNear, double zFar)
void	makePerspective (double fovy, double aspectRatio, double zNear, double zFar, const boost::numeric::ublas::matrix< double > &PP)
void	makeRotate (const osg::Quat &q)
void	makeRotate (const osg::Quat &q, const boost::numeric::ublas::matrix< double > &PQ)
void	makeScale (const osg::Vec3 &s)
void	makeScale (const osg::Vec3 &s, const boost::numeric::ublas::matrix< double > &PS)
void	makeTranslate (const osg::Vec3 &v)
void	makeTranslate (const osg::Vec3 &v, const boost::numeric::ublas::matrix< double > &PV)
void	resetP ()
bool	invert (const MatrixEstimate &me)
MatrixEstimate &	operator= (const MatrixEstimate &rhs)
Static Public Member Functions
MatrixEstimate	inverse (const MatrixEstimate &me)

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Detailed Description

This class defines the estimate of the matrix. It is stored as a vector with 16 states whose order should be the same as the 1D array returned by Matrix.ptr();

The reason why we use this form is that it represents the most general way to handle any and all types of transforms which can turn up in OSG. There are two downsides. First, this is computationally much more expensive. Second, it looses some of the nonlinear constraints which occur. TODO: work out if this is a problem or not

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Constructor & Destructor Documentation

osgExtension::MatrixEstimate::MatrixEstimate (   )

Construct a new matrix estimate. By default, it is set to the identity matrix with a covariance matrix with extremely small positives on the diagonals.

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Member Function Documentation

void osgExtension::MatrixEstimate::getMatrix (  osg::Matrix &  m  )  const [inline]

Return the value stored in this estimate using an osg::Matrix.

bool osgExtension::MatrixEstimate::getPerfectlyKnown (   )  const [inline]

Return if the transformation is known perfectly. If it is, various optimisations can be used.

void osgExtension::MatrixEstimate::getTrans (  osg::Vec3 &  v  )  const [inline]

Get the translation

osg::Vec3 osgExtension::MatrixEstimate::getTrans (   )  const [inline]

Get the translation

bool osgExtension::MatrixEstimate::invert (  const MatrixEstimate &  me  )

Assign this estimate as the inverse of another estimate.

bool osgExtension::MatrixEstimate::isInfinite (   )  const [inline]

Return if the transformation is infinite.

void osgExtension::MatrixEstimate::set (  const osg::Quat &  q, const boost::numeric::ublas::matrix< double > &  PQ )  [inline]

Set the rotation from the quaternion. To be consistent with osg::Matrix semantics, this sets the translation component to 0. The covariance for the rotation component is computed from the covariance on the quaternion. The position covariance terms are set to 0.

void osgExtension::MatrixEstimate::set (  const osg::Quat &  q  )  [inline]

Set the rotation from the quaternion. To be consistent with osg::Matrix semantics, this sets the translation component to 0. The covariance is unchanged.

void osgExtension::MatrixEstimate::setInfinite (  bool  infinite  )  [inline]

Set whether the estimate is infinite

void osgExtension::MatrixEstimate::setMatrix (  const osg::Matrix &  m  )  [inline]

Set the mean of this estimate from an OSG matrix. The covariance structure is not altered.

void osgExtension::MatrixEstimate::setPerfectlyKnown (  bool  newPerfectlyKnown  )  [inline]

Set whether the estimate is known perfectly

void osgExtension::MatrixEstimate::setTrans (  const osg::Vec3 &  v, const boost::numeric::ublas::matrix< double > &  PV )

Set the translation of the matrix. The covariance of the position states are set according to PV.

void osgExtension::MatrixEstimate::setTrans (  const osg::Vec3 &  v  )

Set the translation of the matrix. The covariance is not changed.

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

• MatrixEstimate
• MatrixEstimate.cpp

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