Feature #262

Covariance Ellipsoid3D -> Rotation

Added by Daniel Stonier 1013 days ago. Updated 825 days ago.

Status:Finished Start:09/10/2010
Priority:Normal Due date:
Assigned to:Daniel Stonier % Done:

100%
Category:Core
Target version:0.5 - Framework

Description

Add a conversion so that the eigenvector 3d set converts itself to a form that matches a 3d rotation matrix. Will need to calculation the permutation matrix to do this.

History

Updated by Daniel Stonier 938 days ago

This is an interesting/fast way to draw it, get the cholesky decomposition and then do a transformation from spherical unit vectors to the ellipsoid locations.

http://sci.tech-archive.net/Archive/sci.math/2007-04/msg02393.html

Updated by Daniel Stonier 884 days ago

  • Status changed from Assigned to Finished
  • % Done changed from 0 to 100

Haven't done anything about the cholesky operation, but jae-yeong added a routine to check that the resulting set is sorted and normalised enough to produce a right handed co-ordinate system. This is enough for most use cases.

Updated by Daniel Stonier 825 days ago

  • Target version changed from 0.8 - Ros Repo to 0.5 - Framework

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