icpCore.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <ARX/AR/ar.h>
#include <ARX/AR/icpCore.h>

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Macros
#define	SQRT   sqrt
#define	COS   cos
#define	SIN   sin
#define	ONE   1.0

Functions
int	icpGetXc_from_Xw_by_MatXw2Xc (ICP3DCoordT *Xc, ARdouble matXw2Xc[3][4], ICP3DCoordT *Xw)
int	icpGetU_from_X_by_MatX2U (ICP2DCoordT *u, ARdouble matX2U[3][4], ICP3DCoordT *coord3d)
int	icpGetJ_U_S (ARdouble J_U_S[2][6], ARdouble matXc2U[3][4], ARdouble matXw2Xc[3][4], ICP3DCoordT *worldCoord)
int	icpGetDeltaS (ARdouble S[6], ARdouble dU[], ARdouble J_U_S[][6], int n)
int	icpUpdateMat (ARdouble matXw2Xc[3][4], ARdouble dS[6])

Macro Definition Documentation

COS

#define COS   cos

ONE

#define ONE   1.0

SIN

#define SIN   sin

SQRT

#define SQRT   sqrt

Function Documentation

icpGetDeltaS()

int icpGetDeltaS	(	ARdouble	S[6],
		ARdouble	dU[],
		ARdouble	J_U_S[][6],
		int	n
	)

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icpGetJ_U_S()

int icpGetJ_U_S	(	ARdouble	J_U_S[2][6],
		ARdouble	matXc2U[3][4],
		ARdouble	matXw2Xc[3][4],
		ICP3DCoordT *	worldCoord
	)

icpGetU_from_X_by_MatX2U()

int icpGetU_from_X_by_MatX2U	(	ICP2DCoordT *	u,
		ARdouble	matX2U[3][4],
		ICP3DCoordT *	coord3d
	)

icpGetXc_from_Xw_by_MatXw2Xc()

int icpGetXc_from_Xw_by_MatXw2Xc	(	ICP3DCoordT *	Xc,
		ARdouble	matXw2Xc[3][4],
		ICP3DCoordT *	Xw
	)

icpUpdateMat()

int icpUpdateMat	(	ARdouble	matXw2Xc[3][4],
		ARdouble	dS[6]
	)