WAI Namespace Reference

WAI : Where Am I: Collection of duplicate structs for vectors. More...

Classes
struct	V2
struct	V3
struct	M3x3
struct	M4x4
class	ModeOrbSlam2

Enumerations
enum	TrackingState { TrackingState_None , TrackingState_Idle , TrackingState_Initializing , TrackingState_TrackingOK , TrackingState_TrackingLost }

Functions
V3	v3 (float x, float y, float z)
V3	subV3 (V3 v1, V3 v2)
M3x3	identityM3x3 ()
M3x3	multM3x3 (M3x3 m1, M3x3 m2)
V3	multM3x3V3 (M3x3 m, V3 v)
M3x3	rotateXM3x3 (float theta)

Detailed Description

WAI : Where Am I: Collection of duplicate structs for vectors.

Enumeration Type Documentation

TrackingState

enum WAI::TrackingState

Enumerator
TrackingState_None
TrackingState_Idle
TrackingState_Initializing
TrackingState_TrackingOK
TrackingState_TrackingLost

Definition at line 26 of file WAIModeOrbSlam2.h.

{
    TrackingState_None,
    TrackingState_Idle,
    TrackingState_Initializing,
    TrackingState_TrackingOK,
    TrackingState_TrackingLost
};

Function Documentation

identityM3x3()

M3x3 WAI::identityM3x3 ( )

inline

Definition at line 65 of file WAIMath.h.

{
    M3x3 result;
 
    for (int i = 0; i < 3; i++)
    {
        for (int j = 0; j < 3; j++)
        {
            if (i == j)
            {
                result.e[i][j] = 1.0f;
            }
            else
            {
                result.e[i][j] = 0.0f;
            }
        }
    }
 
    return result;
}

multM3x3()

M3x3 WAI::multM3x3 ( M3x3  m1, M3x3  m2  )

inline

Definition at line 87 of file WAIMath.h.

{
    M3x3 result = {};
 
    for (int i = 0; i < 3; i++)
    {
        for (int j = 0; j < 3; j++)
        {
            for (int k = 0; k < 3; k++)
            {
                float v1 = m1.e[k][j];
                float v2 = m2.e[i][k];
                result.e[i][j] += v1 * v2;
            }
        }
    }
 
    return result;
}

multM3x3V3()

V3 WAI::multM3x3V3 ( M3x3  m, V3  v  )

inline

Definition at line 107 of file WAIMath.h.

{
    V3 result = {};
 
    for (int i = 0; i < 3; i++)
    {
        for (int j = 0; j < 3; j++)
        {
            result.e[i] += m.e[j][i] * v.e[j];
        }
    }
 
    return result;
}

rotateXM3x3()

M3x3 WAI::rotateXM3x3 ( float  theta )

inline

Definition at line 122 of file WAIMath.h.

{
    M3x3 result = identityM3x3();
 
    result.e[1][1] = cos(theta);
    result.e[1][2] = sin(theta);
    result.e[2][1] = -1 * sin(theta);
    result.e[2][2] = cos(theta);
 
    return result;
}

subV3()

V3 WAI::subV3 ( V3  v1, V3  v2  )

inline

Definition at line 49 of file WAIMath.h.

{
    V3 result;
 
    result.x = v1.x - v2.x;
    result.y = v1.y - v2.y;
    result.z = v1.z - v2.z;
 
    return result;
}

v3()

V3 WAI::v3 ( float  x, float  y, float  z  )

inline

Definition at line 38 of file WAIMath.h.

{
    V3 result;
 
    result.x = x;
    result.y = y;
    result.z = z;
 
    return result;
}