D:/Programmierung/C/TRTK/include/TRTK/Tools.hpp File Reference

This file contains various helper functions. More...

#include <cassert>
#include <cmath>
#include <cstdlib>
#include <limits>
#include <list>
#include <sstream>
#include <string>
#include <tuple>
#include <utility>
#include <vector>
#include <Eigen/Core>
#include "Coordinate.hpp"
#include <QTransform>

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Namespaces
namespace	TRTK
	Namespace of the Transformation and Registration Toolkit.
namespace	TRTK::Tools
	This namespace contains various helper functions.
Functions
template<class EigenMatrix >
QTransform	TRTK::Tools::Eigen3x3_to_QTransfom (const EigenMatrix &eigenMatrix)
	Converts an Eigen 3x3 matrix into a QTransform.
template<class T >
std::pair< Eigen::Matrix< T, 3, 1 > , T >	TRTK::Tools::axisAngleFromRotationMatrix (const Eigen::Matrix< T, 3, 3 > &matrix)
template<class T >
std::tuple< T, T, T >	TRTK::Tools::cartesian2Spherical (const T &x, const T &y, const T &z)
template<class T >
Eigen::Matrix< T, 3, 1 >	TRTK::Tools::cartesian2Spherical (const Eigen::Matrix< T, 3, 1 > &point)
template<class T >
Coordinate< T >	TRTK::Tools::cartesian2Spherical (const Coordinate< T > &point)
bool	TRTK::Tools::fileExists (const char *file_name)
	Checks whether a certain file exists.
unsigned long long	TRTK::Tools::fileLength (const char *file_name)
	Returns the size of a certain file.
unsigned long long	TRTK::Tools::fileLength (std::ifstream &file_stream)
	Returns the size of a certain file stream.
string	TRTK::Tools::getCurrentDate ()
	Returns the current date in ISO 8601 format (YYYY-MM-DD).
string	TRTK::Tools::getCurrentTime ()
	Returns the current time in format hh:mm:ss.
template<class Derived , class Base >
bool	TRTK::Tools::isClass (Base *base_ptr)
	Checks whether an object is of a certain class.
template<class Derived , class Base >
bool	TRTK::Tools::isClass (Base &base)
	Checks whether an object is of a certain class.
template<typename Base >
bool	TRTK::Tools::isDerivedFrom (const Base *base_ptr)
	Checks whether an object is derived from a certain class.
template<typename Base >
bool	TRTK::Tools::isDerivedFrom (const void *base_ptr)
	Checks whether an object is derived from a certain class.
template<class T >
bool	TRTK::Tools::isEqual (const T x, const T y)
	Tests for equality of two scalars.
template<>
bool	TRTK::Tools::isEqual< int > (const int x, const int y)
template<class T >
bool	TRTK::Tools::isZero (const T value)
	Tests for equality with zero.
template<class T >
std::vector< T >	TRTK::Tools::listToVector (const std::list< T > &lst)
	Converts an STL list into an STL vector.
template<class Container , class ValueType >
ValueType	TRTK::Tools::mean (const Container &container, ValueType null_value=ValueType())
	Returns the mean of all container elements.
template<class WeightsContainer , class ValuesContainer , class ValueType = typename ValuesContainer::value_type>
ValueType	TRTK::Tools::weightedMean (const WeightsContainer &weights, const ValuesContainer &values, ValueType null_value=ValueType(0))
	Returns the weighted mean of all container elements.
template<class Container >
auto	TRTK::Tools::median (const Container &container)-> std
	Returns the median of all container elements.
template<class T >
TRTK::Coordinate< T >	TRTK::Tools::orthogonalMatrixToQuaternion (const Eigen::Matrix< T, 3, 3 > &matrix)
	Converts an orthogonal matrix to a unit quaternion.
template<class T >
TRTK::Coordinate< T >	TRTK::Tools::orthogonalMatrixToQuaternion2 (const Eigen::Matrix< T, 3, 3 > &matrix)
	Converts an orthogonal matrix to a unit quaternion.
template<class T >
Eigen::Matrix< T, 3, 3 >	TRTK::Tools::quaternionToOrthogonalMatrix (T q0, T q1, T q2, T q3)
	Converts a unit quaternion to an orthogonal matrix.
template<class T >
Eigen::Matrix< T, 3, 3 >	TRTK::Tools::quaternionToOrthogonalMatrix (const TRTK::Coordinate< T > &quaternion)
	Converts a unit quaternion to an orthogonal matrix.
template<class T >
T	TRTK::Tools::rand ()
	Random sample of the standard uniform distribution.
template<class T >
T	TRTK::Tools::rand (T a, T b)
	Random sample of a uniform distribution.
template<>
int	TRTK::Tools::rand< int > (int a, int b)
template<>
unsigned	TRTK::Tools::rand< unsigned > (unsigned a, unsigned b)
double	TRTK::Tools::randn ()
	Random sample of the standard normal distribution.
template<class T >
T	TRTK::Tools::randn (T mu, T sigma)
	Random sample of the normal distribution.
template<>
int	TRTK::Tools::randn (int mu, int sigma)
template<class T >
int	TRTK::Tools::sign (T value)
	Extracts the sign of a floating point number.
template<class T >
Eigen::Matrix< T, 3, 3 >	TRTK::Tools::rotationMatrix (const Eigen::Matrix< T, 3, 1 > &axis_, double angle)
template<class T >
T	TRTK::Tools::round (const T number)
	Rounds towards the next (signed) integer value.
template<>
int	TRTK::Tools::round< int > (const int number)
template<class T >
std::tuple< T, T, T >	TRTK::Tools::spherical2Cartesian (const T &r, const T &theta, const T &phi)
template<class T >
Coordinate< T >	TRTK::Tools::spherical2Cartesian (const Coordinate< T > &point)
template<class T >
Eigen::Matrix< T, 3, 1 >	TRTK::Tools::spherical2Cartesian (const Eigen::Matrix< T, 3, 1 > &point)
template<class Container , class ValueType >
ValueType	TRTK::Tools::standardDeviation (const Container &container, ValueType null_value=ValueType())
	Computes the corrected sample standard deviation of all container elements.
template<class T >
std::string	TRTK::Tools::toString (const T &value)
	Converts the input argument (int, double etc.) into a std::string.
template<class Container , class ValueType >
ValueType	TRTK::Tools::variance (const Container &container, ValueType null_value=ValueType())
	Computes the sample variance of all container elements.
template<class T >
std::list< T >	TRTK::Tools::vectorToList (const std::vector< T > &vec)
	Converts an STL vector into an STL list.
template<class T1 , class T2 >
std::vector< std::pair< T1, T2 > >	TRTK::Tools::zip (const std::vector< T1 > &v1, const std::vector< T2 > &v2)
	Zips two STL vectors into a single one.

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Detailed Description

This file contains various helper functions.

Definition in file Tools.hpp.