plucker.cc

Go to the documentation of this file.

#include "plucker.hh"

using namespace std;



double Plucker::operator*(const Plucker &b){
    return (coordinates_[0]*b[3]) + (coordinates_[1]*b[4]) + (coordinates_[2]*b[5]) + (coordinates_[3]*b[0]) + (coordinates_[4]*b[1]) +(coordinates_[5]*b[2]);
};

void Plucker::compute(const arma::vec3 &a,const arma::vec3 &b){
    
    coordinates_[0] = b[0] - a[0];
    coordinates_[1] = b[1] - a[1];
    coordinates_[2] = b[2] - a[2];
    coordinates_[3] = coordinates_[1]*a[2] - coordinates_[2]*a[1];
    coordinates_[4] = coordinates_[2]*a[0] - coordinates_[0]*a[2];
    coordinates_[5] = coordinates_[0]*a[1] - coordinates_[1]*a[0];
    computed_ = true;

    scale_=0;
    scale_ = std::max(  scale_, std::fabs(coordinates_[0]));
    scale_ = std::max(  scale_, std::fabs(coordinates_[1]));
    scale_ = std::max(  scale_, std::fabs(coordinates_[2]));
};

ostream& operator<<(ostream& os, const Plucker& p)
{
    if(p.computed_){
        os <<"(" << p.coordinates_[0] << "," << p.coordinates_[1] << "," << p.coordinates_[2] << "," 
           << p.coordinates_[3] << "," << p.coordinates_[4] << "," << p.coordinates_[5] << ")";
    }else{
        os << "NULL (Plucker coords have not been computed)";
    }
    return os;
}