Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/common/include/pcl/common/norms.h
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00038 
00039 #ifndef PCL_COMMON_NORMS_H_
00040 #define PCL_COMMON_NORMS_H_
00041 
00042 /**
00043   * \file norms.h
00044   * Define standard C methods to calculate different norms
00045   * \ingroup common
00046   */
00047 
00048 /*@{*/
00049 namespace pcl
00050 {
00051   /** \brief Enum that defines all the types of norms available.
00052    * \note Any new norm type should have its own enum value and its own case in the selectNorm () method
00053    * \ingroup common
00054    */
00055   enum NormType {L1, L2_SQR, L2, LINF, JM, B, SUBLINEAR, CS, DIV, PF, K, KL, HIK};
00056 
00057   /** \brief Method that calculates any norm type available, based on the norm_type variable
00058    * \note FloatVectorT is any type of vector with its values accessible via [ ]
00059    * \ingroup common
00060    * */
00061   template <typename FloatVectorT> inline float
00062   selectNorm (FloatVectorT A, FloatVectorT B, int dim, NormType norm_type);
00063 
00064   /** \brief Compute the L1 norm of the vector between two points
00065     * \param A the first point
00066     * \param B the second point
00067     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00068     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00069     * \ingroup common
00070     */
00071   template <typename FloatVectorT> inline float
00072   L1_Norm (FloatVectorT A, FloatVectorT B, int dim);
00073   
00074   /** \brief Compute the squared L2 norm of the vector between two points
00075     * \param A the first point
00076     * \param B the second point
00077     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00078     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00079     * \ingroup common
00080     */
00081   template <typename FloatVectorT> inline float
00082   L2_Norm_SQR (FloatVectorT A, FloatVectorT B, int dim);
00083   
00084   /** \brief Compute the L2 norm of the vector between two points
00085     * \param A the first point
00086     * \param B the second point
00087     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00088     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00089     * \ingroup common
00090     */
00091   template <typename FloatVectorT> inline float
00092   L2_Norm (FloatVectorT A, FloatVectorT B, int dim);
00093 
00094   /** \brief Compute the L-infinity norm of the vector between two points
00095     * \param A the first point
00096     * \param B the second point
00097     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00098     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00099     * \ingroup common
00100     */  
00101   template <typename FloatVectorT> inline float
00102   Linf_Norm (FloatVectorT A, FloatVectorT B, int dim);
00103 
00104   /** \brief Compute the JM norm of the vector between two points
00105     * \param A the first point
00106     * \param B the second point
00107     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00108     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00109     * \ingroup common
00110     */
00111   template <typename FloatVectorT> inline float
00112   JM_Norm (FloatVectorT A, FloatVectorT B, int dim);
00113 
00114   /** \brief Compute the B norm of the vector between two points
00115     * \param A the first point
00116     * \param B the second point
00117     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00118     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00119     * \ingroup common
00120     */
00121   template <typename FloatVectorT> inline float
00122   B_Norm (FloatVectorT A, FloatVectorT B, int dim);
00123 
00124   /** \brief Compute the sublinear norm of the vector between two points
00125     * \param A the first point
00126     * \param B the second point
00127     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00128     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00129     * \ingroup common
00130     */
00131   template <typename FloatVectorT> inline float
00132   Sublinear_Norm (FloatVectorT A, FloatVectorT B, int dim);
00133 
00134   /** \brief Compute the CS norm of the vector between two points
00135     * \param A the first point
00136     * \param B the second point
00137     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00138     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00139     * \ingroup common
00140     */
00141   template <typename FloatVectorT> inline float
00142   CS_Norm (FloatVectorT A, FloatVectorT B, int dim);
00143 
00144   /** \brief Compute the div norm of the vector between two points
00145     * \param A the first point
00146     * \param B the second point
00147     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00148     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00149     * \ingroup common
00150     */
00151   template <typename FloatVectorT> inline float
00152   Div_Norm (FloatVectorT A, FloatVectorT B, int dim);
00153 
00154   /** \brief Compute the PF norm of the vector between two points
00155     * \param A the first point
00156     * \param B the second point
00157     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00158     * \param P1 the first parameter
00159     * \param P2 the second parameter
00160     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00161     * \ingroup common
00162     */
00163   template <typename FloatVectorT> inline float
00164   PF_Norm (FloatVectorT A, FloatVectorT B, int dim, float P1, float P2);
00165 
00166   /** \brief Compute the K norm of the vector between two points
00167     * \param A the first point
00168     * \param B the second point
00169     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00170     * \param P1 the first parameter
00171     * \param P2 the second parameter
00172     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00173     * \ingroup common
00174     */
00175   template <typename FloatVectorT> inline float
00176   K_Norm (FloatVectorT A, FloatVectorT B, int dim, float P1, float P2);
00177 
00178   /** \brief Compute the KL between two discrete probability density functions
00179     * \param A the first discrete PDF
00180     * \param B the second discrete PDF
00181     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00182     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00183     * \ingroup common
00184     */
00185   template <typename FloatVectorT> inline float
00186   KL_Norm (FloatVectorT A, FloatVectorT B, int dim);
00187 
00188   /** \brief Compute the HIK norm of the vector between two points
00189     * \param A the first point
00190     * \param B the second point
00191     * \param dim the number of dimensions in \a A and \a B (dimensions must match)
00192     * \note FloatVectorT is any type of vector with its values accessible via [ ]
00193     * \ingroup common
00194     */
00195   template <typename FloatVectorT> inline float
00196   HIK_Norm (FloatVectorT A, FloatVectorT B, int dim);
00197 }
00198 /*@}*/
00199 #include <pcl/common/impl/norms.hpp>
00200 
00201 #endif  //#ifndef PCL_NORMS_H_