us.ihmc.utilities.math.geometry
Class BestFitPlaneDataAccumulator

java.lang.Object
  extended by us.ihmc.utilities.math.geometry.BestFitPlaneDataAccumulator

public class BestFitPlaneDataAccumulator
extends java.lang.Object


Constructor Summary
BestFitPlaneDataAccumulator()
           
 
Method Summary
 void addPoint(double x, double y, double z)
           
 int getCount()
           
 void populateDegenerate1XCase(javax.vecmath.GMatrix matrixXCase, javax.vecmath.GMatrix vectorXCase)
           
 void populateDegenerate1YCase(javax.vecmath.GMatrix matrixYCase, javax.vecmath.GMatrix vectorYCase)
           
 void populateMomentVector(javax.vecmath.Vector3d vectorToPopulate)
           
 void populateSquareMatrixToInvert(javax.vecmath.Matrix3d matrix)
           
 double solveDegenerate0Case()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

BestFitPlaneDataAccumulator

public BestFitPlaneDataAccumulator()
Method Detail

addPoint

public void addPoint(double x,
                     double y,
                     double z)

populateSquareMatrixToInvert

public void populateSquareMatrixToInvert(javax.vecmath.Matrix3d matrix)

getCount

public int getCount()

populateMomentVector

public void populateMomentVector(javax.vecmath.Vector3d vectorToPopulate)

populateDegenerate1XCase

public void populateDegenerate1XCase(javax.vecmath.GMatrix matrixXCase,
                                     javax.vecmath.GMatrix vectorXCase)

populateDegenerate1YCase

public void populateDegenerate1YCase(javax.vecmath.GMatrix matrixYCase,
                                     javax.vecmath.GMatrix vectorYCase)

solveDegenerate0Case

public double solveDegenerate0Case()