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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <fstream></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <iostream></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> {<span class="comment"></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> /** \brief This represents a bivariate polynomial and provides some functionality for it</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> * \author Bastian Steder</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> * \ingroup common</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">template</span><<span class="keyword">typename</span> real></div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html"> 53</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT</a></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="comment">//-----CONSTRUCTOR&DESTRUCTOR-----</span><span class="comment"></span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> /** Constructor */</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a3b5e10284148e752608ac7a3360c38bc">BivariatePolynomialT</a> (<span class="keywordtype">int</span> new_degree=0);<span class="comment"></span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> /** Copy constructor */</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a3b5e10284148e752608ac7a3360c38bc">BivariatePolynomialT</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT</a>& other);<span class="comment"></span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> /** Destructor */</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a0f28750be24f617a845d13a5b162024d">~BivariatePolynomialT</a> ();</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="comment">//-----OPERATORS-----</span><span class="comment"></span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"> /** = operator */</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT</a>&</div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a662197ded030021e9ed89b1e340a136d"> 67</a></span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a662197ded030021e9ed89b1e340a136d">operator= </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT</a>& other) { <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a19a20b4a2f728467070e04b12e65f5f9">deepCopy</a> (other); <span class="keywordflow">return</span> *<span class="keyword">this</span>;}</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="comment">//-----METHODS-----</span><span class="comment"></span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> /** Initialize members to default values */</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#aed11361541574e5403b2cae87a6fdefb">setDegree</a> (<span class="keywordtype">int</span> new_degree);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"></span> </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> /** How many parameters has a bivariate polynomial with this degree */</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#ad3d75267352127a78d7ac4b8c7bf7e09"> 76</a></span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#ad3d75267352127a78d7ac4b8c7bf7e09">getNoOfParameters</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#af340b29b096afc9905bb3dbace20fc77">getNoOfParametersFromDegree</a> (<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#ae73e09a6cca0b1d4fa878f7e580cb043">degree</a>);}</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"></span> </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> /** Calculate the value of the polynomial at the given point */</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  real</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#acdc0e524f9459299f1ce12ad90c80d11">getValue</a> (real x, real y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"></span> </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"> /** Calculate the gradient of this polynomial</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> * If forceRecalc is false, it will do nothing when the gradient already exists */</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#acde974dde59cc80e99e489c5060144e9">calculateGradient</a> (<span class="keywordtype">bool</span> forceRecalc=<span class="keyword">false</span>);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"></span> </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"> /** Calculate the value of the gradient at the given point */</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#af6f0e129462f6ab1a5b5418b4fad4e81">getValueOfGradient</a> (real x, real y, real& gradX, real& gradY);</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"></span> </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> /** Returns critical points of the polynomial. type can be 0=maximum, 1=minimum, or 2=saddle point</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> * !!Currently only implemented for degree 2!! */</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a2196b7d0c51d481bd3afe59cad5704ea">findCriticalPoints</a> (std::vector<real>& x_values, std::vector<real>& y_values, std::vector<int>& types) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"></span> </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> /** write as binary to a stream */</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a933644376259b50d3e28d121024b9c08">writeBinary</a> (std::ostream& os) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"></span> </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment"> /** write as binary into a file */</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a933644376259b50d3e28d121024b9c08">writeBinary</a> (<span class="keyword">const</span> <span class="keywordtype">char</span>* filename) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"></span> </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"> /** read binary from a stream */</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a76d452bda6622b29b1d9629bc0de6986">readBinary</a> (std::istream& os);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"></span> </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> /** read binary from a file */</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a76d452bda6622b29b1d9629bc0de6986">readBinary</a> (<span class="keyword">const</span> <span class="keywordtype">char</span>* filename);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"></span> </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> /** How many parameters has a bivariate polynomial of the given degree */</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#af340b29b096afc9905bb3dbace20fc77"> 114</a></span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#af340b29b096afc9905bb3dbace20fc77">getNoOfParametersFromDegree</a> (<span class="keywordtype">int</span> n) { <span class="keywordflow">return</span> ((n+2)* (n+1))/2;}</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="comment">//-----VARIABLES-----</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#ae73e09a6cca0b1d4fa878f7e580cb043"> 117</a></span>  <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#ae73e09a6cca0b1d4fa878f7e580cb043">degree</a>{0};</div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a81ee0b3c6567accf95ac5088de588dae"> 118</a></span>  real* <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a81ee0b3c6567accf95ac5088de588dae">parameters</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#af600117b8b76d52dfbfe8c25e857ea73"> 119</a></span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT<real></a>* <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#af600117b8b76d52dfbfe8c25e857ea73">gradient_x</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a74e0dbe057d2e2d169601b97faacc55f"> 120</a></span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT<real></a>* <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a74e0dbe057d2e2d169601b97faacc55f">gradient_y</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="comment">//-----METHODS-----</span><span class="comment"></span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> /** Delete all members */</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a50f80298cd732662a0ca9ab7c2b6af1d">memoryCleanUp</a> ();</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"></span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> /** Create a deep copy of the given polynomial */</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a19a20b4a2f728467070e04b12e65f5f9">deepCopy</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT<real></a>& other);</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="comment">//-----VARIABLES-----</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  };</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">template</span><<span class="keyword">typename</span> real></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  std::ostream&</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <a class="code" href="namespacepcl.html#a4e32b0632e12d5a051cb8b04ea5f5ca0">operator<< </a>(std::ostream& os, <span class="keyword">const</span> BivariatePolynomialT<real>& p);</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  </div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="namespacepcl.html#a50f06eaf95ee8d0c6af44271124a3660"> 138</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomiald</a> = <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT<double></a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="namespacepcl.html#a3f368bb27adce3e34778c4da706d99cc"> 139</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomial</a> = <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT<float></a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> } <span class="comment">// end namespace</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="preprocessor">#include <pcl/common/impl/bivariate_polynomial.hpp></span></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html">pcl::BivariatePolynomialT</a></div><div class="ttdoc">This represents a bivariate polynomial and provides some functionality for it.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8h_source.html#l00053">bivariate_polynomial.h:54</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a0f28750be24f617a845d13a5b162024d"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a0f28750be24f617a845d13a5b162024d">pcl::BivariatePolynomialT::~BivariatePolynomialT</a></div><div class="ttdeci">~BivariatePolynomialT()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00069">bivariate_polynomial.hpp:69</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a19a20b4a2f728467070e04b12e65f5f9"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a19a20b4a2f728467070e04b12e65f5f9">pcl::BivariatePolynomialT::deepCopy</a></div><div class="ttdeci">void deepCopy(const BivariatePolynomialT< real > &other)</div><div class="ttdoc">Create a deep copy of the given polynomial.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00106">bivariate_polynomial.hpp:106</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a2196b7d0c51d481bd3afe59cad5704ea"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a2196b7d0c51d481bd3afe59cad5704ea">pcl::BivariatePolynomialT::findCriticalPoints</a></div><div class="ttdeci">void findCriticalPoints(std::vector< real > &x_values, std::vector< real > &y_values, std::vector< int > &types) const</div><div class="ttdoc">Returns critical points of the polynomial.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00200">bivariate_polynomial.hpp:200</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a3b5e10284148e752608ac7a3360c38bc"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a3b5e10284148e752608ac7a3360c38bc">pcl::BivariatePolynomialT::BivariatePolynomialT</a></div><div class="ttdeci">BivariatePolynomialT(int new_degree=0)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00055">bivariate_polynomial.hpp:55</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a50f80298cd732662a0ca9ab7c2b6af1d"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a50f80298cd732662a0ca9ab7c2b6af1d">pcl::BivariatePolynomialT::memoryCleanUp</a></div><div class="ttdeci">void memoryCleanUp()</div><div class="ttdoc">Delete all members.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00097">bivariate_polynomial.hpp:97</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a662197ded030021e9ed89b1e340a136d"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a662197ded030021e9ed89b1e340a136d">pcl::BivariatePolynomialT::operator=</a></div><div class="ttdeci">BivariatePolynomialT & operator=(const BivariatePolynomialT &other)</div><div class="ttdoc">= operator</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8h_source.html#l00067">bivariate_polynomial.h:67</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a74e0dbe057d2e2d169601b97faacc55f"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a74e0dbe057d2e2d169601b97faacc55f">pcl::BivariatePolynomialT::gradient_y</a></div><div class="ttdeci">BivariatePolynomialT< real > * gradient_y</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8h_source.html#l00120">bivariate_polynomial.h:120</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a76d452bda6622b29b1d9629bc0de6986"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a76d452bda6622b29b1d9629bc0de6986">pcl::BivariatePolynomialT::readBinary</a></div><div class="ttdeci">void readBinary(std::istream &os)</div><div class="ttdoc">read binary from a stream</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00293">bivariate_polynomial.hpp:293</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a81ee0b3c6567accf95ac5088de588dae"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a81ee0b3c6567accf95ac5088de588dae">pcl::BivariatePolynomialT::parameters</a></div><div class="ttdeci">real * parameters</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8h_source.html#l00118">bivariate_polynomial.h:118</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a933644376259b50d3e28d121024b9c08"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a933644376259b50d3e28d121024b9c08">pcl::BivariatePolynomialT::writeBinary</a></div><div class="ttdeci">void writeBinary(std::ostream &os) const</div><div class="ttdoc">write as binary to a stream</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00276">bivariate_polynomial.hpp:276</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_acdc0e524f9459299f1ce12ad90c80d11"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#acdc0e524f9459299f1ce12ad90c80d11">pcl::BivariatePolynomialT::getValue</a></div><div class="ttdeci">real getValue(real x, real y) const</div><div class="ttdoc">Calculate the value of the polynomial at the given point.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00170">bivariate_polynomial.hpp:170</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_acde974dde59cc80e99e489c5060144e9"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#acde974dde59cc80e99e489c5060144e9">pcl::BivariatePolynomialT::calculateGradient</a></div><div class="ttdeci">void calculateGradient(bool forceRecalc=false)</div><div class="ttdoc">Calculate the gradient of this polynomial If forceRecalc is false, it will do nothing when the gradie...</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00139">bivariate_polynomial.hpp:139</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_ad3d75267352127a78d7ac4b8c7bf7e09"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#ad3d75267352127a78d7ac4b8c7bf7e09">pcl::BivariatePolynomialT::getNoOfParameters</a></div><div class="ttdeci">unsigned int getNoOfParameters() const</div><div class="ttdoc">How many parameters has a bivariate polynomial with this degree.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8h_source.html#l00076">bivariate_polynomial.h:76</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_ae73e09a6cca0b1d4fa878f7e580cb043"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#ae73e09a6cca0b1d4fa878f7e580cb043">pcl::BivariatePolynomialT::degree</a></div><div class="ttdeci">int degree</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8h_source.html#l00117">bivariate_polynomial.h:117</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_aed11361541574e5403b2cae87a6fdefb"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#aed11361541574e5403b2cae87a6fdefb">pcl::BivariatePolynomialT::setDegree</a></div><div class="ttdeci">void setDegree(int new_degree)</div><div class="ttdoc">Initialize members to default values.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00076">bivariate_polynomial.hpp:76</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_af340b29b096afc9905bb3dbace20fc77"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#af340b29b096afc9905bb3dbace20fc77">pcl::BivariatePolynomialT::getNoOfParametersFromDegree</a></div><div class="ttdeci">static unsigned int getNoOfParametersFromDegree(int n)</div><div class="ttdoc">How many parameters has a bivariate polynomial of the given degree.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8h_source.html#l00114">bivariate_polynomial.h:114</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_af600117b8b76d52dfbfe8c25e857ea73"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#af600117b8b76d52dfbfe8c25e857ea73">pcl::BivariatePolynomialT::gradient_x</a></div><div class="ttdeci">BivariatePolynomialT< real > * gradient_x</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8h_source.html#l00119">bivariate_polynomial.h:119</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_af6f0e129462f6ab1a5b5418b4fad4e81"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#af6f0e129462f6ab1a5b5418b4fad4e81">pcl::BivariatePolynomialT::getValueOfGradient</a></div><div class="ttdeci">void getValueOfGradient(real x, real y, real &gradX, real &gradY)</div><div class="ttdoc">Calculate the value of the gradient at the given point.</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00191">bivariate_polynomial.hpp:191</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="anamespacepcl_html_a4e32b0632e12d5a051cb8b04ea5f5ca0"><div class="ttname"><a href="namespacepcl.html#a4e32b0632e12d5a051cb8b04ea5f5ca0">pcl::operator<<</a></div><div class="ttdeci">std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00237">bivariate_polynomial.hpp:238</a></div></div>
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