Class SceneStructureMetric.Rigid

Enclosing class:

public static class SceneStructureMetric.Rigid extends Object
A set of connected points that form a rigid structure. The 3D location of points in the rigid body's reference frame is constant.
  • Field Details

    • known

      public boolean known
      If the parameters are assumed to be known and should not be optimised.
    • object_to_world

      public final Se3_F64 object_to_world
      Transform from world into the rigid object's frame
    • points

      public SceneStructureCommon.Point[] points
      Location of points in object's reference frame. The coordinate is always fixed.
    • indexFirst

      public int indexFirst
      Index of the first point in the list
  • Constructor Details

    • Rigid

      public Rigid()
  • Method Details

    • init

      public void init(int numPoints, int dof)
      Resets and initialzies internal data structures. If possible previously declared data is reused
      numPoints - Number of points in the rigid body
      dof - DOF in each point
    • connectPointToView

      public void connectPointToView(int pointIdx, int viewIdx)
    • setPoint

      public void setPoint(int which, double x, double y, double z)
    • setPoint

      public void setPoint(int which, double x, double y, double z, double w)
    • getPoint

      public void getPoint(int which, Point3D_F64 p)
    • getPoint

      public void getPoint(int which, Point4D_F64 p)
    • getTotalPoints

      public int getTotalPoints()
    • isIdentical

      public boolean isIdentical(SceneStructureMetric.Rigid m, double tol)