Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho 00003 All rights reserved. 00004 00005 Redistribution and use in source and binary forms, with or without modification, 00006 are permitted provided that the following conditions are met: 00007 00008 Redistributions of source code must retain the above copyright notice, this list of 00009 conditions and the following disclaimer. Redistributions in binary form must reproduce 00010 the above copyright notice, this list of conditions and the following disclaimer 00011 in the documentation and/or other materials provided with the distribution. 00012 00013 Neither the name of the Johns Hopkins University nor the names of its contributors 00014 may be used to endorse or promote products derived from this software without specific 00015 prior written permission. 00016 00017 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY 00018 EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 00019 OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT 00020 SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00021 INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 00022 TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR 00023 BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00024 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00025 ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH 00026 DAMAGE. 00027 */ 00028 00029 #ifndef POLYNOMIAL_INCLUDED 00030 #define POLYNOMIAL_INCLUDED 00031 00032 #include <vector> 00033 00034 namespace pcl 00035 { 00036 namespace poisson 00037 { 00038 00039 template< int Degree > 00040 class Polynomial{ 00041 public: 00042 double coefficients[Degree+1]; 00043 00044 Polynomial(void); 00045 template<int Degree2> 00046 Polynomial(const Polynomial<Degree2>& P); 00047 double operator()( double t ) const; 00048 double integral( double tMin , double tMax ) const; 00049 00050 int operator == (const Polynomial& p) const; 00051 int operator != (const Polynomial& p) const; 00052 int isZero(void) const; 00053 void setZero(void); 00054 00055 template<int Degree2> 00056 Polynomial& operator = (const Polynomial<Degree2> &p); 00057 Polynomial& operator += (const Polynomial& p); 00058 Polynomial& operator -= (const Polynomial& p); 00059 Polynomial operator - (void) const; 00060 Polynomial operator + (const Polynomial& p) const; 00061 Polynomial operator - (const Polynomial& p) const; 00062 template<int Degree2> 00063 Polynomial<Degree+Degree2> operator * (const Polynomial<Degree2>& p) const; 00064 00065 Polynomial& operator += ( double s ); 00066 Polynomial& operator -= ( double s ); 00067 Polynomial& operator *= ( double s ); 00068 Polynomial& operator /= ( double s ); 00069 Polynomial operator + ( double s ) const; 00070 Polynomial operator - ( double s ) const; 00071 Polynomial operator * ( double s ) const; 00072 Polynomial operator / ( double s ) const; 00073 00074 Polynomial scale( double s ) const; 00075 Polynomial shift( double t ) const; 00076 00077 Polynomial<Degree-1> derivative(void) const; 00078 Polynomial<Degree+1> integral(void) const; 00079 00080 void printnl(void) const; 00081 00082 Polynomial& addScaled(const Polynomial& p,double scale); 00083 00084 static void Negate(const Polynomial& in,Polynomial& out); 00085 static void Subtract(const Polynomial& p1,const Polynomial& p2,Polynomial& q); 00086 static void Scale(const Polynomial& p,double w,Polynomial& q); 00087 static void AddScaled(const Polynomial& p1,double w1,const Polynomial& p2,double w2,Polynomial& q); 00088 static void AddScaled(const Polynomial& p1,const Polynomial& p2,double w2,Polynomial& q); 00089 static void AddScaled(const Polynomial& p1,double w1,const Polynomial& p2,Polynomial& q); 00090 00091 void getSolutions(double c,std::vector<double>& roots,double EPS) const; 00092 00093 static Polynomial BSplineComponent( int i ); 00094 }; 00095 00096 00097 } 00098 } 00099 00100 00101 #include "polynomial.hpp" 00102 #endif // POLYNOMIAL_INCLUDED