UTILSLIB::Sphere Class Reference

Describes a 3D sphere object. More...

#include <sphere.h>

Public Member Functions
	Sphere (const Eigen::Vector3f &center, float radius)
Eigen::Vector3f &	center ()
float &	radius ()

Static Public Member Functions
static Sphere	fit_sphere (const Eigen::MatrixX3f &points)
static Sphere	fit_sphere_simplex (const Eigen::MatrixX3f &points, double simplex_size=2e-2)
static bool	fit_sphere_to_points (const Eigen::MatrixXf &rr, float simplex_size, Eigen::VectorXf &r0, float &R)
static bool	fit_sphere_to_points (float **rr, int np, float simplex_size, float *r0, float *R)

Detailed Description

Describes a 3D sphere object.

Sphere descritpion

Definition at line 72 of file sphere.h.

Constructor & Destructor Documentation

Sphere()

Sphere::Sphere	(	const Eigen::Vector3f &	center,
		float	radius
	)

Constructs the Sphere

Parameters

[in]	center	The sphere's center.
[in]	radius	The sphere's radius.

Definition at line 64 of file sphere.cpp.

Member Function Documentation

center()

Eigen::Vector3f& UTILSLIB::Sphere::center ( )

inline

The radius of the sphere.

Returns

the fitted sphere.

Definition at line 112 of file sphere.h.

fit_sphere()

Sphere Sphere::fit_sphere ( const Eigen::MatrixX3f &  points )

static

Fits a sphere to a point cloud. Algorithm by Alan Jennings, University of Dayton

Parameters

[in]

points

n x 3 matrix of cartesian data to fit the sphere to.

Returns

the fitted sphere.

Definition at line 72 of file sphere.cpp.

fit_sphere_simplex()

Sphere Sphere::fit_sphere_simplex ( const Eigen::MatrixX3f &  points, double  simplex_size = 2e-2  )

static

Fits a sphere to a point cloud.

Parameters

[in]	points	n x 3 matrix of cartesian data to fit the sphere to.
[in]	simplex_size	The simplex size.

Returns

the fitted sphere.

Definition at line 112 of file sphere.cpp.

fit_sphere_to_points()

static bool UTILSLIB::Sphere::fit_sphere_to_points ( const Eigen::MatrixXf &  rr, float  simplex_size, Eigen::VectorXf &  r0, float &  R  )

static

Fits a sphere to a point cloud.

Parameters

[in]	rr	n x 3 matrix of cartesian data to fit the sphere to.
[in]	simplex_size	The simplex size.
[out]	r0	center (1 x 3 matrix) of the sphere.
[out]	R	Radius.

Returns

true if successful.

radius()

float& UTILSLIB::Sphere::radius ( )

inline

The radius of the sphere.

Returns

the fitted sphere.

Definition at line 120 of file sphere.h.

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

• src/libraries/utils/sphere.h
• src/libraries/utils/sphere.cpp