geom::anonymous_namespace{geomObjects.cpp} Namespace Reference

Functions
bool	ellipseMetricInside (double u, double v, double a, double b)
void	ellipseLocal (const Ellipse &e, const util::Point &x, double &u, double &v)
static void	quatMul (double aw, double ax, double ay, double az, double bw, double bx, double by, double bz, double &cw, double &cx, double &cy, double &cz)
static void	axisAngleToQuatSafe (const util::Point &axisIn, double theta, double &w, double &x, double &y, double &z)
static void	quatToAxisAngle (double qw, double qx, double qy, double qz, util::Point &axis, double &theta)
void	ellipsoidBodyCoords (const Ellipsoid &e, const util::Point &p, double R[9], double &v0, double &v1, double &v2)
double	ellipsoidMetric (const Ellipsoid &e, const util::Point &x, double R[9], const double &ra, const double &rb, const double &rc)

Function Documentation

axisAngleToQuatSafe()

static void geom::anonymous_namespace{geomObjects.cpp}::axisAngleToQuatSafe ( const util::Point &  axisIn, double  theta, double &  w, double &  x, double &  y, double &  z  )

static

Definition at line 2018 of file geomObjects.cpp.

                                                                                {
      if (std::abs(theta) < 1.0e-30) {
        w = 1.;
        x = y = z = 0.;
        return;
      }
      const double L = axisIn.length();
      if (L < 1.0e-30) {
        w = 1.;
        x = y = z = 0.;
        return;
      }
      const util::Point k = axisIn / L;
      const double half = 0.5 * theta;
      w = std::cos(half);
      const double s = std::sin(half);
      x = s * k.d_x;
      y = s * k.d_y;
      z = s * k.d_z;
    }

References axisAngleToQuatSafe(), util::Point::d_x, util::Point::d_y, util::Point::d_z, and util::Point::length().

Referenced by axisAngleToQuatSafe().

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ellipseLocal()

void geom::anonymous_namespace{geomObjects.cpp}::ellipseLocal	(	const Ellipse &	e,
		const util::Point &	x,
		double &	u,
		double &	v
	)

Definition at line 1515 of file geomObjects.cpp.

                                                                                  {
      const double dx = x.d_x - e.d_x.d_x;
      const double dy = x.d_y - e.d_x.d_y;
      const double c = std::cos(e.d_theta);
      const double s = std::sin(e.d_theta);
      u = c * dx + s * dy;
      v = -s * dx + c * dy;
    }

References geom::Ellipse::d_theta, geom::Ellipse::d_x, util::Point::d_x, util::Point::d_y, and ellipseLocal().

Referenced by ellipseLocal().

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ellipseMetricInside()

bool geom::anonymous_namespace{geomObjects.cpp}::ellipseMetricInside	(	double	u,
		double	v,
		double	a,
		double	b
	)

Definition at line 1509 of file geomObjects.cpp.

                                                                     {
      if (a <= 0. || b <= 0.)
        return false;
      return util::isLess(u * u / (a * a) + v * v / (b * b), 1. + 1.0E-12);
    }

References ellipseMetricInside(), and util::isLess().

Referenced by ellipseMetricInside().

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ellipsoidBodyCoords()

void geom::anonymous_namespace{geomObjects.cpp}::ellipsoidBodyCoords	(	const Ellipsoid &	e,
		const util::Point &	p,
		double	R[9],
		double &	v0,
		double &	v1,
		double &	v2
	)

Definition at line 2069 of file geomObjects.cpp.

                                                     {
      ellipsoidRotationMatrix(e, R);
      v0 = R[0] * p.d_x + R[3] * p.d_y + R[6] * p.d_z;
      v1 = R[1] * p.d_x + R[4] * p.d_y + R[7] * p.d_z;
      v2 = R[2] * p.d_x + R[5] * p.d_y + R[8] * p.d_z;
    }

References util::Point::d_x, util::Point::d_y, util::Point::d_z, ellipsoidBodyCoords(), and geom::ellipsoidRotationMatrix().

Referenced by ellipsoidBodyCoords(), and ellipsoidMetric().

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ellipsoidMetric()

double geom::anonymous_namespace{geomObjects.cpp}::ellipsoidMetric	(	const Ellipsoid &	e,
		const util::Point &	x,
		double	R[9],
		const double &	ra,
		const double &	rb,
		const double &	rc
	)

Definition at line 2077 of file geomObjects.cpp.

                                                               {
      const util::Point p{x.d_x - e.d_x.d_x, x.d_y - e.d_x.d_y, x.d_z - e.d_x.d_z};
      double v0, v1, v2;
      ellipsoidBodyCoords(e, p, R, v0, v1, v2);
      const double dx = v0 / ra;
      const double dy = v1 / rb;
      const double dz = v2 / rc;
      return dx * dx + dy * dy + dz * dz;
    }

References geom::Ellipsoid::d_x, util::Point::d_x, util::Point::d_y, util::Point::d_z, ellipsoidBodyCoords(), and ellipsoidMetric().

Referenced by ellipsoidMetric().

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quatMul()

static void geom::anonymous_namespace{geomObjects.cpp}::quatMul ( double  aw, double  ax, double  ay, double  az, double  bw, double  bx, double  by, double  bz, double &  cw, double &  cx, double &  cy, double &  cz  )

static

Definition at line 2009 of file geomObjects.cpp.

                                                                        {
      cw = aw * bw - ax * bx - ay * by - az * bz;
      cx = aw * bx + ax * bw + ay * bz - az * by;
      cy = aw * by - ax * bz + ay * bw + az * bx;
      cz = aw * bz + ax * by - ay * bx + az * bw;
    }

References quatMul().

Referenced by quatMul().

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quatToAxisAngle()

static void geom::anonymous_namespace{geomObjects.cpp}::quatToAxisAngle ( double  qw, double  qx, double  qy, double  qz, util::Point &  axis, double &  theta  )

static

Definition at line 2040 of file geomObjects.cpp.

                                                                {
      double n = std::sqrt(qw * qw + qx * qx + qy * qy + qz * qz);
      if (n < 1.0e-30) {
        axis = util::Point(0., 0., 1.);
        theta = 0.;
        return;
      }
      qw /= n;
      qx /= n;
      qy /= n;
      qz /= n;
      if (qw < 0.) {
        qw = -qw;
        qx = -qx;
        qy = -qy;
        qz = -qz;
      }
      qw = std::max(-1., std::min(1., qw));
      theta = 2. * std::acos(qw);
      const double sv = std::sqrt(qx * qx + qy * qy + qz * qz);
      if (sv < 1.0e-15) {
        axis = util::Point(0., 0., 1.);
        theta = 0.;
        return;
      }
      axis = util::Point(qx / sv, qy / sv, qz / sv);
    }

References quatToAxisAngle().

Referenced by quatToAxisAngle().

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