Documentation and creation of Doxygen module "tensors"
Frank Dellaert
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@ -9,11 +9,11 @@
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* -------------------------------------------------------------------------- */
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/*
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* Tensor1.h
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/**
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* @file Tensor1.h
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* @brief Rank 1 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 10, 2010
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* @author: Frank Dellaert
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* @date Feb 10, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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@ -21,7 +21,10 @@
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namespace tensors {
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/** A rank 1 tensor. Actually stores data. */
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/**
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* A rank 1 tensor. Actually stores data.
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* @ingroup tensors
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*/
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template<int N>
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class Tensor1 {
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double T[N]; ///< Storage
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* -------------------------------------------------------------------------- */
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/*
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* Tensor1Expression.h
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/**
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* @file Tensor1Expression.h
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* @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 10, 2010
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* @author: Frank Dellaert
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* @date Feb 10, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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@ -29,6 +29,7 @@ namespace tensors {
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* Templated class to provide a rank 1 tensor interface to a class.
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* This class does not store any data but the result of an expression.
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* It is associated with an index.
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* @ingroup tensors
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*/
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template<class A, class I> class Tensor1Expression {
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@ -9,11 +9,11 @@
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* -------------------------------------------------------------------------- */
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/*
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* Tensor2.h
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/**
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* @file Tensor2.h
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* @brief Rank 2 Tensor based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 10, 2010
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* @author: Frank Dellaert
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* @date Feb 10, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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@ -21,7 +21,10 @@
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namespace tensors {
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/** Rank 2 Tensor */
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/**
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* Rank 2 Tensor
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* @ingroup tensors
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*/
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template<int N1, int N2>
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class Tensor2 {
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protected:
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* -------------------------------------------------------------------------- */
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/*
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* Tensor2Expression.h
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/**
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* @file Tensor2Expression.h
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* @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 10, 2010
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* @author: Frank Dellaert
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* @date Feb 10, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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@ -24,7 +24,10 @@
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namespace tensors {
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/** Templated class to hold a rank 2 tensor expression. */
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/**
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* Templated class to hold a rank 2 tensor expression.
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* @ingroup tensors
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*/
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template<class A, class I, class J> class Tensor2Expression {
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private:
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@ -9,10 +9,10 @@
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* -------------------------------------------------------------------------- */
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/*
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* Tensor3.h
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/**
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* @file Tensor3.h
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* @brief Rank 3 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 10, 2010
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* @date Feb 10, 2010
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* @author: Frank Dellaert
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*/
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@ -21,7 +21,10 @@
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namespace tensors {
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/** Rank 3 Tensor */
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/**
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* Rank 3 Tensor
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* @ingroup tensors
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*/
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template<int N1, int N2, int N3>
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class Tensor3 {
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Tensor2<N1, N2> T[N3]; ///< Storage
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* -------------------------------------------------------------------------- */
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/*
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* Tensor3Expression.h
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/**
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* @file Tensor3Expression.h
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* @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 10, 2010
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* @author: Frank Dellaert
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* @date Feb 10, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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@ -23,7 +23,10 @@
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namespace tensors {
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/** templated class to interface to an object A as a rank 3 tensor */
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/**
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* templated class to interface to an object A as a rank 3 tensor
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* @ingroup tensors
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*/
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template<class A, class I, class J, class K> class Tensor3Expression {
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A iter;
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@ -9,11 +9,11 @@
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* -------------------------------------------------------------------------- */
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/*
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* Tensor4.h
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/**
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* @file Tensor4.h
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* @brief Rank 4 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 12, 2010
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* @author: Frank Dellaert
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* @date Feb 12, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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@ -21,7 +21,10 @@
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namespace tensors {
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/** Rank 3 Tensor */
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/**
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* Rank 4 Tensor
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* @ingroup tensors
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*/
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template<int N1, int N2, int N3, int N4>
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class Tensor4 {
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* -------------------------------------------------------------------------- */
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/*
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* Tensor5.h
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/**
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* @file Tensor5.h
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* @brief Rank 5 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 12, 2010
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* @author: Frank Dellaert
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* @date Feb 12, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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namespace tensors {
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/** Rank 3 Tensor */
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/**
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* Rank 5 Tensor
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* @ingroup tensors
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*/
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template<int N1, int N2, int N3, int N4, int N5>
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class Tensor5 {
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* -------------------------------------------------------------------------- */
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/*
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* Tensor5Expression.h
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/**
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* @file Tensor5Expression.h
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* @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 10, 2010
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* @author: Frank Dellaert
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* @date Feb 10, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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@ -23,7 +23,10 @@
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namespace tensors {
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/** templated class to interface to an object A as a rank 3 tensor */
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/**
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* templated class to interface to an object A as a rank 5 tensor
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* @ingroup tensors
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*/
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template<class A, class I, class J, class K, class L, class M> class Tensor5Expression {
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A iter;
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* -------------------------------------------------------------------------- */
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/*
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* projectiveGeometry.cpp
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/**
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* @file projectiveGeometry.cpp
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* @brief Projective geometry, implemented using tensor library
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* Created on: Feb 12, 2010
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* @date Feb 12, 2010
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* @author: Frank Dellaert
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*/
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* -------------------------------------------------------------------------- */
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/*
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* projectiveGeometry.h
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/**
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* @file projectiveGeometry.h
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* @brief Projective geometry, implemented using tensor library
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* Created on: Feb 12, 2010
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* @author: Frank Dellaert
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* @date Feb 12, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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namespace gtsam {
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/** 2D Point */
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/**
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* 2D Point
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* @ingroup tensors
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*/
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typedef tensors::Tensor1<3> Point2h;
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Point2h point2h(double x, double y, double w);
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/** 2D Line */
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/**
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* 2D Line
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* @ingroup tensors
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*/
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typedef tensors::Tensor1<3> Line2h;
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Line2h line2h(double a, double b, double c);
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/** 2D Point corrrespondence */
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/**
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* 2D Point corrrespondence
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* @ingroup tensors
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*/
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struct Correspondence {
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Point2h first, second;
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Correspondence(const Point2h &p1, const Point2h &p2) :
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}
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};
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/** 2D-2D Homography */
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/**
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* 2D-2D Homography
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* @ingroup tensors
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*/
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typedef tensors::Tensor2<3, 3> Homography2;
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/** Fundamental Matrix */
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/**
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* Fundamental Matrix
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* @ingroup tensors
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*/
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typedef tensors::Tensor2<3, 3> FundamentalMatrix;
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/** Triplet of points */
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/**
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* Triplet of points
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* @ingroup tensors
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*/
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struct Triplet {
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Point2h first, second, third;
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Triplet(const Point2h &p1, const Point2h &p2, const Point2h &p3) :
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}
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};
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/** Trifocal Tensor */
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/**
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* Trifocal Tensor
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* @ingroup tensors
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*/
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typedef tensors::Tensor3<3, 3, 3> TrifocalTensor;
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/** 3D Point */
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/**
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* 3D Point
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* @ingroup tensors
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*/
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typedef tensors::Tensor1<4> Point3h;
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Point3h point3h(double X, double Y, double Z, double W);
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/** 3D Plane */
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/**
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* 3D Plane
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* @ingroup tensors
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*/
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typedef tensors::Tensor1<4> Plane3h;
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Plane3h plane3h(double a, double b, double c, double d);
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/** 3D to 2D projective camera */
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/**
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* 3D to 2D projective camera
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* @ingroup tensors
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*/
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typedef tensors::Tensor2<3, 4> ProjectiveCamera;
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} // namespace gtsam
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@ -9,11 +9,11 @@
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* -------------------------------------------------------------------------- */
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/*
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* tensorInterface.h
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/**
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* @file tensorInterface.h
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* @brief Interfacing tensors template library and gtsam
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* Created on: Feb 12, 2010
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* @author: Frank Dellaert
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* @date Feb 12, 2010
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* @author Frank Dellaert
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*/
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#pragma once
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@ -9,11 +9,12 @@
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* -------------------------------------------------------------------------- */
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/*
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* tensors.h
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/**
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* @file tensors.h
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* @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
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* Created on: Feb 10, 2010
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* @author: Frank Dellaert
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* @date Feb 10, 2010
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* @author Frank Dellaert
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* @defgroup tensors
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*/
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#pragma once
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