Structure from Motion (SfM)¶
Theia has a full Structure-from-Motion pipeline that is extremely efficient. Our overall pipeline consists of several steps. First, we extract features (SIFT is the default). Then, we perform two-view matching and geometric verification to obtain relative poses between image pairs and create a ViewGraph. Next, we perform global pose estimation with gloabl SfM. Global SfM is different from incremental SfM in that it considers the entire view graph at the same time instead of incrementally adding more and more images to the Reconstruction. Global SfM methods have been proven to be very fast with comparable or better accuracy to incremental SfM approaches (See [JiangICCV], [MoulonICCV], [WilsonECCV]), and they are much more readily parallelized. After we have obtained camera poses, we perform triangulation and BundleAdjustment to obtain a valid 3D reconstruction consisting of cameras and 3D points.
The first step towards creating a reconstruction is to determine images which view the same objects. To do this, we must create a ViewGraph.
- Extract features in images.
- Match features to obtain image correspondences.
- Estimate camera poses from two-view matches and geometries.
INSERT FIGURE HERE!!!
#1. and #2. have been covered in other sections, so we will focus on creating a reconstruction from two-view matches and geometry. First, we will describe the fundamental elements of our reconstruction.
Reconstruction¶
- class Reconstruction¶
INSERT FIGURE HERE
At the core of our SfM pipeline is an SfM Reconstruction. A Reconstruction is the representation of a 3D reconstuction consisting of a set of unique Views and Tracks. More importantly, the Reconstruction class contains visibility information relating all of the Views and Tracks to each other. We identify each View uniquely based on the name (a string). A good name for the view is the filename of the image that corresponds to the View
When creating an SfM reconstruction, you should add each View and Track through the Reconstruction object. This will ensure that visibility information (such as which Tracks are observed a given View and which Views see a given Track) stays accurate. Views and Tracks are given a unique ID when added to the Reconstruction to help make use of these structures lightweight and efficient.
- ViewId AddView(const std::string& view_name)¶
Adds a view to the reconstruction with the default initialization. The ViewId returned is guaranteed to be unique or will be kInvalidViewId if the method fails. Each view is uniquely identified by the view name (a good view name could be the filename of the image).
- bool RemoveView(const ViewId view_id)¶
Removes the view from the reconstruction and removes all references to the view in the tracks.
Note
Any tracks that have length 0 after the view is removed will also be removed.
- int NumViews() const¶
- int NumTracks() const¶
- const View* View(const ViewId view_id) const¶
- View* MutableView(const ViewId view_id)¶
Returns the View or a nullptr if the track does not exist.
- std::vector<ViewId> ViewIds() const¶
Return all ViewIds in the reconstruction.
- ViewId ViewIdFromName(const std::string& view_name) const¶
Returns to ViewId of the view name, or kInvalidViewId if the view does not exist.
- TrackId AddTrack(const std::vector<std::pair<ViewId, Feature>>& track)¶
Add a track to the reconstruction with all of its features across views that observe this track. Each pair contains a feature and the corresponding View name (i.e., the string) that observes the feature. A new View will be created if a View with the view name does not already exist. This method will not estimate the position of the track. The TrackId returned will be unique or will be kInvalidTrackId if the method fails.
- bool RemoveTrack(const TrackId track_id)¶
Removes the track from the reconstruction and from any Views that observe this track. Returns true on success and false on failure (e.g., the track does not exist).
- const Track* Track(const TrackId track_id) const¶
- Track* MutableTrack(const TrackId track_id)¶
Returns the Track or a nullptr if the track does not exist.
- std::vector<TrackId> TrackIds() const¶
Return all TrackIds in the reconstruction.
ViewGraph¶
- class ViewGraph¶
INSERT FIGURE HERE
A ViewGraph is a basic SfM construct that is created from two-view matching information. Any pair of views that have a view correlation form an edge in the ViewGraph such that the nodes in the graph are View that are connected by TwoViewInfo objects that contain information about the relative pose between the Views as well as matching information.
Once you have a set of views and match information, you can add them to the view graph:
std::vector<View> views;
// Match all views in the set.
std::vector<ViewIdPair, TwoViewInfo> view_pair_matches;
ViewGraph view_graph;
for (const auto& view_pair : view_pair_matches) {
const ViewIdPair& view_id_pair = view_pair.first;
const TwoViewInfo& two_view_info = view_pair.second;
// Only add view pairs to the view graph if they have strong visual coherence.
if (two_view_info.num_matched_features > min_num_matched_features) {
view_graph.AddEdge(views[view_id_pair.first],
views[view_id_pair.second],
two_view_info);
}
}
// Process and/or manipulate the view graph.
The edge values are especially useful for one-shot SfM where the relative poses are heavily exploited for computing the final poses. Without a proper ViewGraph, one-shot SfM would not be possible.
Views and Tracks¶
- class View¶
At the heart of our SfM framework is the View class which represents everything about an image that we want to reconstruct. It contains information about features from the image, camera pose information, and EXIF information. Views make up our basic visiblity constraints and are a fundamental part of the SfM pipeline.
- class Track¶
A Track represents a feature that has been matached over potentially many images. When a feature appears in multiple images it typically means that the features correspond to the same 3D point. These 3D points are useful constraints in SfM reconstruction, as they represent the “structure” in “Structure-from-Motion” and help to build a point cloud for our reconstruction.
TwoViewInfo¶
- class TwoViewInfo¶
After image matching is performed we can create a ViewGraph that explains the relative pose information between two images that have been matched. The TwoViewInfo struct is specified as:
struct TwoViewInfo {
double focal_length_1;
double focal_length_2;
Eigen::Vector3d position_2;
Eigen::Vector3d rotation_2;
// Number of features that were matched and geometrically verified betwen the
// images.
int num_verified_matches;
};
This information serves the purpose of an edge in the view graph that describes visibility information between all views. The relative poses here are used to estimate global poses for the cameras.
Camera¶
- class Camera¶
Each View contains a Camera object that contains intrinsic and extrinsic information about the camera that observed the scene. Theia has an efficient, compact Camera class that abstracts away common image operations. This greatly relieves the pain of manually dealing with calibration and geometric transformations of images. We represent camera intrinsics such that the calibration matrix is:
where \(f\) is the focal length (in pixels), \(s\) is the skew, \(a\) is the aspect ratio and \(p\) is the principle point of the camera. All of these intrinsics may be accessed with getter and setter methods, e.g., double GetFocalLenth() or void SetFocalLength(const double focal_length). Note that we do additionally allow for up to two radial distortion parameters, but these are not part of the calibration matrix so they must be set or retrieved separately from the corresponding getter/setter methods.
We store the camera pose information as the transformation which maps world coordinates into camera coordinates. Our rotation is stored internally as an SO(3) rotation, which makes optimization with BundleAdjustment more effective since the value is always a valid rotation (unlike e.g., Quaternions that must be normalized after each optimization step). However, for convenience we provide an interface to retrieve the rotation as a rotation matrix as well. Further, we store the camera position as opposed to the translation.
The convenience of this camera class is clear with the common example of 3D point reprojection.
// Open an image and obtain camera parameters.
FloatImage image("my_image.jpg");
double focal_length;
CHECK(image.FocalLengthPixels(&focal_length));
const double radial_distortion1 = value obtained elsewhere...
const double radial_distortion2 = value obtained elsewhere...
const Eigen::Matrix3d rotation = value obtained elsewhere...
const Eigen::Vector3d position = value obtained elsewhere...
// Set up the camera.
Camera camera;
camera.SetOrientationFromRotationMatrix(rotation);
camera.SetPosition(position);
camera.SetFocalLength(focal_length);
camera.SetPrincipalPoint(image.Width() / 2.0, image.Height() / 2.0);
camera.SetRadialDistortion(radial_distortion1, radial_distortion2);
// Obtain a homogeneous 3D point
const Eigen::Vector4d homogeneous_point3d = value obtained elsewhere...
// Reproject the 3D point to a pixel.
Eigen::Vector2d reprojection_pixel;
const double depth = camera.ProjectPoint(homogeneous_point3d, &pixel);
if (depth < 0) {
LOG(INFO) << "Point was behind the camera!";
}
LOG(INFO) << "Homogeneous 3D point: " << homogeneous_point3d
<< " reprojected to the pixel value of " << reprojection_pixel;
Point projection can be a tricky function when considering the camera intrinsics and extrinsics. Theia takes care of this projection (including radial distortion) in a simple and efficient manner.
In addition to typical getter/setter methods for the camera parameters, the Camera class also defines several helper functions:.
- bool InitializeFromProjectionMatrix(const int image_width, const int image_height, const Matrix3x4d projection_matrix)¶
Initializes the camera intrinsic and extrinsic parameters from the projection matrix by decomposing the matrix with a RQ decomposition.
Note
The projection matrix does not contain information about radial distortion, so those parameters will need to be set separately.
- void GetProjectionMatrix(Matrix3x4d* pmatrix) const¶
Returns the projection matrix. Does not include radial distortion.
- void GetCalibrationMatrix(Eigen::Matrix3d* kmatrix) const¶
Returns the calibration matrix in the form specified above.
- Eigen::Vector3d PixelToUnitDepthRay(const Eigen::Vector2d& pixel) const¶
Converts the pixel point to a ray in 3D space such that the origin of the ray is at the camera center and the direction is the pixel direction rotated according to the camera orientation in 3D space. The returned vector is not unit length.
Global SfM Pipeline¶
The global SfM pipelines in Theia follow a general procedure of filtering outliers and estimating camera poses or structure. Removing outliers can help increase performance dramatically for global SfM, though robust estimation methods are still required to obtain good results. The general pipeline is as follows:
- Create the intial view graph from 2-view matches and TwoViewInfo that describes the relative pose between matched images.
- Filter initial view graph and remove outlier 2-view matches.
- Calibrate internal parameters of all cameras (either from EXIF or another calibration method).
- Estimate global orientations of each camera.
- Filter the view graph: remove any TwoViewInfos where the relative rotation does not agree with the estimated global rotations.
- Refine the relative translation estimation to account for the estimated global rotations.
- Filter any bad TwoViewInfo based on the relative translations.
- Estimate the global positions of all cameras from the estimated rotations and TwoViewInfo.
- Estimate 3D points.
- Bundle adjust the reconstruction.
- (Optional) Attempt to estimate any remaining 3D points and bundle adjust again.
Estimating Global Rotations¶
Theia estimates the global rotations of cameras robustly using a nonlinear optimization. Using the relative rotations obtained from all TwoViewInfo, we enforce the constraint that
\(R_{i,j} = R_j * R_i^T\)
We use the angle-axis representation of rotations to ensure that proper rotations are formed. All pairwise constraints are put into a nonlinear optimization with a robust loss function and the global orienations are computed. The optimization usually converges within just a few iterations and provides a very accurate result. The nonlinear optimization is initialized by forming a random spanning tree of the view graph and walking along the edges.
Estimating Global Positions¶
Positions of cameras may be estimated simultaneously after the rotations are known. We use a nonlinear optimization to estimate camera positions based. Given pairwise relative translations from TwoViewInfo and the estimated rotation, the constraint
\[R_i * \dfrac{c_j - c_i}{||c_j - c_i||} = t_{i,j}\]
Triangulation¶
Triangulation in structure from motion calculates the 3D position of an image coordinate that has been tracked through several, if not many, images.
- bool Triangulate(const Matrix3x4d& pose1, const Matrix3x4d& pose2, const Eigen::Vector2d& point1, const Eigen::Vector2d& point2, Eigen::Vector4d* triangulated_point)¶
2-view triangulation using the method described in [Lindstrom]. This method is optimal in an L2 sense such that the reprojection errors are minimized while enforcing the epipolar constraint between the two cameras. Additionally, it basically the same speed as the TriangulateDLT() method.
The poses are the (potentially calibrated) poses of the two cameras, and the points are the 2D image points of the matched features that will be used to triangulate the 3D point. On successful triangulation, true is returned. The homogeneous 3d point is output so that it may be known if the point is at infinity.
- bool TriangulateDLT(const Matrix3x4d& pose1, const Matrix3x4d& pose2, const Eigen::Vector2d& point1, const Eigen::Vector2d& point2, Eigen::Vector4d* triangulated_point)¶
The DLT triangulation method of [HartleyZisserman].
- bool TriangulateMidpoint(const Eigen::Vector3d& origin1, const Eigen::Vector3d& ray_direction1, const Eigen::Vector3d& origin2, const Eigen::Vector3d& ray_direction2, Eigen::Vector4d* triangulated_point)¶
Perform triangulation by determining the closest point between the two rays. In this case, the ray origins are the camera positions and the directions are the (unit-norm) ray directions of the features in 3D space. This method is known to be suboptimal at minimizing the reprojection error, but is approximately 10x faster than the other 2-view triangulation methods.
- bool TriangulateNViewSVD(const std::vector<Matrix3x4d>& poses, const std::vector<Eigen::Vector2d>& points, Eigen::Vector3d* triangulated_point)¶
- bool TriangulateNView(const std::vector<Matrix3x4d>& poses, const std::vector<Eigen::Vector2d>& points, Eigen::Vector3d* triangulated_point)¶
We provide two N-view triangluation methods that minimizes an algebraic approximation of the geometric error. The first is the classic SVD method presented in [HartleyZisserman]. The second is a custom algebraic minimization. Note that we can derive an algebraic constraint where we note that the unit ray of an image observation can be stretched by depth \(\alpha\) to meet the world point \(X\) for each of the \(n\) observations:
\[\alpha_i \bar{x_i} = P_i X,\]for images \(i=1,\ldots,n\). This equation can be effectively rewritten as:
\[\alpha_i = \bar{x_i}^\top P_i X,\]which can be substituted into our original constraint such that:
\[\bar{x_i} \bar{x_i}^\top P_i X = P_i X\]\[0 = (P_i - \bar{x_i} \bar{x_i}^\top P_i) X\]We can then stack this constraint for each observation, leading to the linear least squares problem:
\[\begin{split}\begin{bmatrix} (P_1 - \bar{x_1} \bar{x_1}^\top P_1) \\ \vdots \\ (P_n - \bar{x_n} \bar{x_n}^\top P_n) \end{bmatrix} X = \textbf{0}\end{split}\]This system of equations is of the form \(AX=0\) which can be solved by extracting the right nullspace of \(A\). The right nullspace of \(A\) can be extracted efficiently by noting that it is equivalent to the nullspace of \(A^\top A\), which is a 4x4 matrix.
Bundle Adjustment¶
Note
Docmentation coming soon...
Similarity Transformation¶
- void AlignPointCloudsICP(const int num_points, const double left[], const double right[], double rotation[3 * 3], double translation[3])¶
We implement ICP for point clouds. We use Besl-McKay registration to align point clouds. We use SVD decomposition to find the rotation, as this is much more likely to find the global minimum as compared to traditional ICP, which is only guaranteed to find a local minimum. Our goal is to find the transformation from the left to the right coordinate system. We assume that the left and right reconstructions have the same number of points, and that the points are aligned by correspondence (i.e. left[i] corresponds to right[i]).
- void AlignPointCloudsUmeyama(const int num_points, const double left[], const double right[], double rotation[3 * 3], double translation[3], double* scale)¶
This function estimates the 3D similiarty transformation using the least squares method of [Umeyama]. The returned rotation, translation, and scale align the left points to the right such that \(Right = s * R * Left + t\).
- void GdlsSimilarityTransform(const std::vector<Eigen::Vector3d>& ray_origin, const std::vector<Eigen::Vector3d>& ray_direction, const std::vector<Eigen::Vector3d>& world_point, std::vector<Eigen::Quaterniond>* solution_rotation, std::vector<Eigen::Vector3d>* solution_translation, std::vector<double>* solution_scale)¶
Computes the solution to the generalized pose and scale problem based on the paper “gDLS: A Scalable Solution to the Generalized Pose and Scale Problem” by Sweeney et. al. [SweeneyGDLS]. Given image rays from one coordinate system that correspond to 3D points in another coordinate system, this function computes the rotation, translation, and scale that will align the rays with the 3D points. This is used for applications such as loop closure in SLAM and SfM. This method is extremely scalable and highly accurate because the cost function that is minimized is independent of the number of points. Theoretically, up to 27 solutions may be returned, but in practice only 4 real solutions arise and in almost all cases where n >= 6 there is only one solution which places the observed points in front of the camera. The rotation, translation, and scale are defined such that: \(sp_i + \alpha_i d_i = RX_i + t\) where the observed image ray has an origin at \(p_i\) in the unit direction \(d_i\) corresponding to 3D point \(X_i\).
ray_origin: the origin (i.e., camera center) of the image ray used in the 2D-3D correspondence.
ray_direction: Normalized image rays corresponding to reconstruction points. Must contain at least 4 points.
world_point: 3D location of features. Must correspond to the image_ray of the same index. Must contain the same number of points as image_ray, and at least 4.
solution_rotation: the rotation quaternion of the candidate solutions
solution_translation: the translation of the candidate solutions
solution_scale: the scale of the candidate solutions


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Getting Started
If you have never used git before, you need to download git first. Installation instructions for some common Operating Systems are given below.
Linux
To Install git on Linux, open a new terminal and run the following command.
$ sudo apt-get install git
MacOS
It is highly recommended that you download homebrew package manager for a mac. Detailed instructions can be found here. With Homebrew installed, simply run the following command.
$ brew install git
Windows
There are several ways to install git on windows. I will mention 2 popular ways here. Note that it is highly recommended that you use a *nix OS for this course.
Downloading git Directly
You can download git for windows directly from here. Follow on-screen instructions to install.
Installing Using Chocolatey Package Manner
Detailed instructions to install chocolatey (a package manager for windows) are here. With chocolatey installed, simply run the following command on the command line.
choco install git
Configuration
If you have never used git before, we need to do some basic one time config.
For *nix Users
Run the following commands from a terminal.
$ git config --global user.name "Your Name"
$ git config --global user.email<EMAIL_ADDRESS>$ git config --global core.autocrlf input
$ git config --global core.safecrlf true
For Windows Users
Run the following commands from the command line.
$ git config --global user.name "Your Name"
$ git config --global user.email<EMAIL_ADDRESS>$ git config --global core.autocrlf true
$ git config --global core.safecrlf true
Creating a git Repository
Let us start off by creating a new git repository.
First, let us create a new directory called cs1217
.
$ mkdir cs1217
Let us now cd
into this directory.
$ cd cs1217
To initialize an empty git repository, run the following command.
cs1217$ git init
We now have an empty git repository in this folder.
Note that you do not need to initialize a repository if you clone a repository from GitHub. More on this later.
Starting a Project
Let us create a new file, hello.c
. To do this, run the following command.
cs1217$ touch hello.c
The contents of hello.c
should be the following.
#include <stdio.h>
int main(void)
{
printf("Hello, World!\n");
}
Now save this file, and type this in your terminal.
cs1217$ git status
You will see hello.c
in the untracked files.
Let us now go ahead and add hello.c
to the staging area, so that it is ready to be committed.
cs1217$ git add hello.c
Let us check the status now.
cs1217$ git status
You should now see hello.c
in the staging area, ready to be committed.

Commit messages should always be crisp, to the point, and easy to understand for your collaborators. They should ideally start with a verb.

Now that we have done our first commit, it is time to push it to the repository. But before that, let us check the status yet again.
cs1217$ git status
On branch master
nothing to commit, working tree clean
Notice that our working tree is clean now.
In order to push our changes to the repository, we must create a new repository on github.
Let us go to github and create a new private repository. To do so, click on the New button next to the repositories section on your homepage.
Set repository name to cs1217
and select the private option. Ignore everything else for now, and click create repository.
We now need to link our local repository to this remote one. In order to do this, let us first copy the link of our newly created repository. It should look something like this
https://github.com/checker5965/cs1217.git
Let us go back to our terminal and execute the following commands.
cs1217$ git remote add origin https://github.com/checker5965/cs1217.git
cs1217$ git push -u origin master
And with that, we have just pushed our changes to our remote repository. You can go to github and check the repository out to see that your changes are there.
Working on an Existing Project
Let us first clean our workspace. Run the following commands.
cs1217$ cd ..
$ rm -rf cs1217
To download an existing repository from Github, we use the command git clone [link to repo]
. For this tutorial, we will redownload the repository we created earlier. To do this, run the following command.
$ git clone https://github.com/checker5965/cs1217.git
Let us cd
into the directory and ls
to make sure hello.c
is in the directory.
In order to make changes to the repository now, we can use the previous workflow without the need to add origin again.
Branching and Merging
In a collaborative environment, developers often want to work on different features and files simultaneously. You may choose to divide your work in the labs for this course, and thus, knowing how branches work could be an important thing.
Let us now create a new branch called myhello
. To do this, run the following command.
cs1217$ git checkout -b myhello
On checking the status, the output should be
cs1217$ git status
On branch myhello
nothing to commit, working tree clean
Let us now change hello.c
such that it accepts the user's name and prints Hello, [username]!
The contents should be the following.
#include <stdio.h>
#include <assert.h>
int main(int argc, char** argv)
{
assert(argc==2 && "Only one argument allowed!");
printf("Hello, %s!\n", argv[1]);
}
On checking the status, we will see that hello.c
is listed as modified. Let us push this change.
cs1217$ git add hello.c
cs1217$ git commit -m "add ability to print username in hello.c"
cs1217$ git push origin myhello
You can now go to github and see that your master
branch will not have the changes, while your myhello
branch will.
Let us switch to master, and merge our changes.
cs1217$ git checkout master
cs1217$ git merge myhello
Remember that our master branch is now one commit ahead of the remote repository, and these changes need to be pushed.
cs1217$ git push
Important note - you do not need to know advanced git in order to work with the code for this course, however, be very careful while working with git. As a rule of thumb, it might be best for the two partners to work on two separate branches (neither of which is master) and on different files.
Undoing Changes
Suppose you made a mistake while adding a new feature to hello.c
#include <stdio.h>
#include <assert.h>
int main(int argc, char** argv)
{
// Assert command is checking the wrong condition.
assert(argc==1 && "Only one argument allowed!");
printf("Hello, %s!\n", argv[1]);
}
If you have not staged your change yet (i.e. you have not added the change via git add
) you can simply use the command below to revert to the latest commit.
cs1217$ git checkout hello.c
Suppose you did not realize that you made an error and already added it to the staging area via git add
, use the command below to unstage the commit.
cs1217$ git reset HEAD hello.c
And now, you can simply use the checkout command to revert the changes locally.
cs1217$ git checkout hello.c
Now, suppose you have already commited the change (but not pushed it), you can use the command below to undo the commit.
cs1217$ git revert HEAD
Note that this has put your current branch two commits ahead of the remote branch. Using revert does NOT delete the prior commit. Instead, it creates a new commit with the code in a previous commit.
Another important thing to note here is that we could revert using HEAD only because we wanted to go one commit back. Another way to revert would be to specify the hash of a commit instead of HEAD. You can find the hash of commits using the git log
command.
Conclusion
And with that, we have come to the end of our tutorial. This is by no means a comprehensive introduction to git, however, it will be sufficient information for you to work with for the purposes of this course. I have also attached some helpful links in the top right corner of this webpage which might be helpful if you're curious.


The Home to the Tastiest Food all over the World.Let our finest food take you on an exciting food tour through its delicious flavours and ethnic influences.


Interactive web mapping application used to display Go2 warning messages and field personnel locations. The Go2 system is used by USGS staff to monitor the maintenance of USGS gages.
Suggested Citation
Smith, M.J., Go2 Mapper Web Application, https://doi.org/10.5066/F7R210PG.
Developed by Martyn Smith and Todd Siskin of the NY WSC.
USGS Software User Rights Notice
Software and related material (data and (or) documentation), contained in or furnished in connection with a software distribution, are made available by the U.S. Geological Survey (USGS) to be used in the public interest and in the advancement of science, subject to the following restrictions and understandings.
Because the software and related material are free and provided "as is," the authors, the USGS, and the United States Government have made no warranty, express or implied, as to accuracy or completeness and are not obligated to provide the user with any support, consulting, training or assistance of any kind with regard to the use, operation, and performance of this software nor to provide the user with any updates, revisions, new versions or "bug fixes".
The user assumes all risk for any damages whatsoever resulting from loss of use, data, or profits arising in connection with the access, use, quality, or performance of this software.


Bill of materials¶
Printed parts¶
1 Block 1 Lever
Note: Parts should preferably be printed in PETG, ABS or ASA as PLA may creep significantly over time.
Electronics¶
There are two board variants included in this repository, either can be used to assemble the InFiDEL. PCBs and electronic components can be easily ordered via the Kitspace project page as it can auto-fill carts and get pricing on PCBs and electronic components from common suppliers.
Choose one:
SMT control board (which is populated; Gerber files and component specifications are included)
THT control board
Also required:
Suitable programmer for ATTiny85 (eg USBtinyISP)
1 SS495A linear hall effect sensor (or comparable)
Fasteners¶
2 M3x8 screws (eg ISO 4762 M3x8)
1 3x24mm pin (eg DIN 7 3x24mm, for mating lever to the block)
1 3x16mm pin (eg DIN 7 3x16mm, for roller bearing in lever)
1 3x18mm pin (eg DIN 7 3x18mm, for idler bearing in block)
6 M3 threaded inserts
1 M6x5 or M6x8 grub screw (eg ISO 4026 M6x5, for pre loading spring)
Pins may be replaced with screws or grubscrews, which may result in decreased precision.
Other hardware¶
1 6x2mm magnet (eg N35)
4 623 bearings (preferably 623-2Z / 623-ZZ)
1 Ballpoint pen spring (or other soft 4mm spring)
Short length of PTFE tube
Calibration accessories¶
1 1.5mm drill bit
1 1.7mm or 1.8mm drill bit
1 2mm drill bit
Calipers for verifying drill bit shaft diameter
Drill bits may be replaced with similar diameters. Measured diameter is to be written to firmware lookup table.


Matrix multiplication using array. More...
Functions | |
| AFAPI array | matmul (const array &lhs, const array &rhs, const matProp optLhs=AF_MAT_NONE, const matProp optRhs=AF_MAT_NONE) |
| Matrix multiply of two arrays. | |
| AFAPI array | matmulNT (const array &lhs, const array &rhs) |
| Matrix multiply of two arrays. | |
| AFAPI array | matmulTN (const array &lhs, const array &rhs) |
| Matrix multiply of two arrays. | |
| AFAPI array | matmulTT (const array &lhs, const array &rhs) |
| Matrix multiply of two arrays. | |
| AFAPI array | matmul (const array &a, const array &b, const array &c) |
| Chain 2 matrix multiplications. | |
| AFAPI array | matmul (const array &a, const array &b, const array &c, const array &d) |
| Chain 3 matrix multiplications. | |
| AFAPI af_err | af_gemm (af_array *C, const af_mat_prop opA, const af_mat_prop opB, const void *alpha, const af_array A, const af_array B, const void *beta) |
| BLAS general matrix multiply (GEMM) of two af_array objects. | |
| AFAPI af_err | af_matmul (af_array *out, const af_array lhs, const af_array rhs, const af_mat_prop optLhs, const af_mat_prop optRhs) |
| Matrix multiply of two af_array. | |
Matrix multiplication using array.
Performs a matrix multiplication on the two input arrays after performing the operations specified in the options. The operations are done while reading the data from memory. This results in no additional memory being used for temporary buffers.
Batched matrix multiplications are supported. Given below are the supported types of batch operations for any given set of two matrices A and B.
| Size of Input Matrix A | Size of Input Matrix B | Output Matrix Size |
|---|---|---|
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, 1, 1 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, b2, b3 \} \) |
where M, K, N are dimensions of the matrix and b2, b3 indicate batch size along the respective dimension.
For the last two entries in the above table, the 2D matrix is broadcasted to match the dimensions of 3D/4D array. This broadcast doesn't involve any additional memory allocations either on host or device.
| AFAPI af_err af_gemm | ( | af_array * | C, |
| const af_mat_prop | opA, | ||
| const af_mat_prop | opB, | ||
| const void * | alpha, | ||
| const af_array | A, | ||
| const af_array | B, | ||
| const void * | beta | ||
| ) |
BLAS general matrix multiply (GEMM) of two af_array objects.
This provides a general interface to the BLAS level 3 general matrix multiply (GEMM), which is generally defined as:
\[ C = \alpha * opA(A)opB(B) + \beta * C \]
where \(\alpha\) (alpha
) and \(\beta\) (beta
) are both scalars; \(A\) and \(B\) are the matrix multiply operands; and \(opA\) and \(opB\) are noop (if AF_MAT_NONE
) or transpose (if AF_MAT_TRANS
) operations on \(A\) or \(B\) before the actual GEMM operation. Batched GEMM is supported if at least either \(A\) or \(B\) have more than two dimensions (see af::matmul for more details on broadcasting). However, only one alpha
and one beta
can be used for all of the batched matrix operands.
The af_array that out
points to can be used both as an input and output. An allocation will be performed if you pass a null af_array handle (i.e. af_array c = 0;
). If a valid af_array is passed as \(C\), the operation will be performed on that af_array itself. The C af_array must be the correct type and shape; otherwise, an error will be thrown.
This example demonstrates the usage of the af_gemm function on two matrices. The \(C\) af_array handle is initialized to zero here, so af_gemm will perform an allocation.
The following example shows how you can write to a previously allocated af_array using the af_gemm call. Here we are going to use the af_array s from the previous example and index into the first slice. Only the first slice of the original \(C\) af_array will be modified by this operation.
| [in,out] | C | Pointer to the output af_array |
| [in] | opA | Operation to perform on A before the multiplication |
| [in] | opB | Operation to perform on B before the multiplication |
| [in] | alpha | The alpha value; must be the same type as lhs and rhs |
| [in] | A | Left-hand side operand |
| [in] | B | Right-hand side operand |
| [in] | beta | The beta value; must be the same type as lhs and rhs |
| AFAPI af_err af_matmul | ( | af_array * | out, |
| const af_array | lhs, | ||
| const af_array | rhs, | ||
| const af_mat_prop | optLhs, | ||
| const af_mat_prop | optRhs | ||
| ) |
Matrix multiply of two af_array.
Performs a matrix multiplication on two arrays (lhs, rhs).
| [out] | out | Pointer to the output af_array |
| [in] | lhs | A 2D matrix af_array object |
| [in] | rhs | A 2D matrix af_array object |
| [in] | optLhs | Transpose left hand side before the function is performed |
| [in] | optRhs | Transpose right hand side before the function is performed |
lhs
and the dense matrix must be rhs
. optLhs
an only be one of AF_MAT_NONE, AF_MAT_TRANS, AF_MAT_CTRANS. optRhs
can only be AF_MAT_NONE. Chain 2 matrix multiplications.
The matrix multiplications are done in a way to reduce temporary memory
| [in] | a | The first array |
| [in] | b | The second array |
| [in] | c | The third array |
Chain 3 matrix multiplications.
The matrix multiplications are done in a way to reduce temporary memory
| [in] | a | The first array |
| [in] | b | The second array |
| [in] | c | The third array |
| [in] | d | The fourth array |
| AFAPI array matmul | ( | const array & | lhs, |
| const array & | rhs, | ||
| const matProp | optLhs = AF_MAT_NONE , |
||
| const matProp | optRhs = AF_MAT_NONE |
||
| ) |
Matrix multiply of two arrays.
Performs a matrix multiplication on the two input arrays after performing the operations specified in the options. The operations are done while reading the data from memory. This results in no additional memory being used for temporary buffers.
Batched matrix multiplications are supported. Given below are the supported types of batch operations for any given set of two matrices A and B.
| Size of Input Matrix A | Size of Input Matrix B | Output Matrix Size |
|---|---|---|
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, 1, 1 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, b2, b3 \} \) |
where M, K, N are dimensions of the matrix and b2, b3 indicate batch size along the respective dimension.
For the last two entries in the above table, the 2D matrix is broadcasted to match the dimensions of 3D/4D array. This broadcast doesn't involve any additional memory allocations either on host or device.
| [in] | lhs | The array object on the left hand side |
| [in] | rhs | The array object on the right hand side |
| [in] | optLhs | Transpose left hand side before the function is performed |
| [in] | optRhs | Transpose right hand side before the function is performed |
lhs
and the dense matrix must be rhs
. optLhs
an only be one of AF_MAT_NONE, AF_MAT_TRANS, AF_MAT_CTRANS. optRhs
can only be AF_MAT_NONE. Matrix multiply of two arrays.
Performs a matrix multiplication on the two input arrays after performing the operations specified in the options. The operations are done while reading the data from memory. This results in no additional memory being used for temporary buffers.
Batched matrix multiplications are supported. Given below are the supported types of batch operations for any given set of two matrices A and B.
| Size of Input Matrix A | Size of Input Matrix B | Output Matrix Size |
|---|---|---|
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, 1, 1 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, b2, b3 \} \) |
where M, K, N are dimensions of the matrix and b2, b3 indicate batch size along the respective dimension.
For the last two entries in the above table, the 2D matrix is broadcasted to match the dimensions of 3D/4D array. This broadcast doesn't involve any additional memory allocations either on host or device.
| [in] | lhs | The array object on the left hand side |
| [in] | rhs | The array object on the right hand side |
lhs
, transpose(rhs
)Matrix multiply of two arrays.
Performs a matrix multiplication on the two input arrays after performing the operations specified in the options. The operations are done while reading the data from memory. This results in no additional memory being used for temporary buffers.
Batched matrix multiplications are supported. Given below are the supported types of batch operations for any given set of two matrices A and B.
| Size of Input Matrix A | Size of Input Matrix B | Output Matrix Size |
|---|---|---|
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, 1, 1 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, b2, b3 \} \) |
where M, K, N are dimensions of the matrix and b2, b3 indicate batch size along the respective dimension.
For the last two entries in the above table, the 2D matrix is broadcasted to match the dimensions of 3D/4D array. This broadcast doesn't involve any additional memory allocations either on host or device.
| [in] | lhs | The array object on the left hand side |
| [in] | rhs | The array object on the right hand side |
lhs
), rhs
Matrix multiply of two arrays.
Performs a matrix multiplication on the two input arrays after performing the operations specified in the options. The operations are done while reading the data from memory. This results in no additional memory being used for temporary buffers.
Batched matrix multiplications are supported. Given below are the supported types of batch operations for any given set of two matrices A and B.
| Size of Input Matrix A | Size of Input Matrix B | Output Matrix Size |
|---|---|---|
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, 1, 1 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, 1, 1 \} \) | \( \{ K, N, b2, b3 \} \) | \( \{ M, N, b2, b3 \} \) |
| \( \{ M, K, b2, b3 \} \) | \( \{ K, N, 1, 1 \} \) | \( \{ M, N, b2, b3 \} \) |
where M, K, N are dimensions of the matrix and b2, b3 indicate batch size along the respective dimension.
For the last two entries in the above table, the 2D matrix is broadcasted to match the dimensions of 3D/4D array. This broadcast doesn't involve any additional memory allocations either on host or device.
| [in] | lhs | The array object on the left hand side |
| [in] | rhs | The array object on the right hand side |
lhs
), transpose(rhs
)


Airbnb signs Olympics deal up to 2028
PARIS (Reuters) - Airbnb has struck a deal to support the Olympic Games up to 2028, the short-term home rental company announced on Monday.
Airbnb said it had signed the partnership with the International Olympics Committee, making it an official Olympics partner for the 2020 Games in Tokyo, the 2024 Games in Paris and the 2028 Games in Los Angeles.
The Olympics often lead to a surge in Airbnb bookings as sports fans from around the world book accommodation in the host city.


Cu Chi Tunnels
An absolutely fascinating experience for all travelers, not just those interested in Vietnam's modern military history, the Cu Chi Tunnels are an extensive tunnel network that during the war, stretched for more than 250 kilometers, allowing VC troops to operate and communicate in the area surrounding Ho Chi Minh City.
There is excellent swimming here with designated swimming areas and manicured lounging areas that make this a great option for relaxing days soaking up the sun and sand.
Two short sections of the network can be visited with a guide who'll take you down into the narrow unlit confines, which definitely are not for claustrophobia sufferers. You will literally be crawling on your hands and knees and some points. You can access the tunnels at either Ben Dinh village (the more popular choice) or Ben Duoc village.


Project Overview:
The aim of the project is to classify the messages into ‘Spam’ and ‘Ham’ categories.
Dataset Used:
The dataset used is a set of SMS tagged messages containing one set of SMS messages in English of 5,574 messages, tagged according being ham (legitimate) or spam. The corpus has been collected from UCI Spam Collection .
Analysis and Methodology
Data Preprocessing: Firstly, I have performed data preprocessing on the given dataset like converting the labels into numerical values (as we all know that machine learning models works well with numbers ).
Feature Extraction: After that, I have performed feature extraction using the bag-of-words model in scikit-learn.
Naive Bayes Classification Model: After splitting my dataset into training and testing sets and applying the bag-of-words model constructed above on the training set, I have implemented Naïve Bayes Classifier ( MultinomialNB ) for classifying whether a message is a ‘spam’ or a ‘ham’. Finally, I have measured the accuracy of the model using metrics given in scikit module.
Implementation: Complete Code can be found here.
Happy Learning !!


Kozhikode , also known as Calicut, is an Indian city, second-largest urban agglomeration in the State of Kerala and 19th largest in the country with a population of 2 million according to 2011 census.During classical antiquity and the Middle Ages, Kozhikode was dubbed the City of Spices for its role as the major trading point of Indian spices.A historical city, it was the capital of an independent kingdom ruled by the Samoothiris (Zamorins) in the Middle Ages. According to data compiled by economics research firm Indicus Analytics in 2009 on residences, earnings and investments, Kozhikode ranked as the second best city in India to reside in.
Beypore beach is an ideal beach destination for tourists as well as of historians. Located at the mouth of river Chaliyar about 10 kilometres away from Kozhikode town (Calicut) in Kerala, Beypore was a port of trade and maritime centre in the olden ages. This ancient port had witnessed much trade and transactions of the Arabian merchants from West Asia, Chinese travellers and later Europeans with the local dealers here. One of the major attractions of this place is the existence of the 1,500 years old tradition of shipbuilding industry.
Read MoreKozhikode Beach or Calicut Beach is a beach on the western side of Kozhikode, situated on the Malabar Coast of India. The beach is accessible through four road overbridges in the city. The beach has paved stones and illumination. There is one Lions Park for the children and an aquarium. Kozhikode beach has always been a prominent place for conducting public meetings. The beach road was renamed 'Gandhi Road' in 1934 after Gandhi visited Calicut in 1934.
Read MorePazhassi Raja Archaeological Museum is a museum and art gallery in Kozhikode, Kerala. The museum has a rich collection of historical artifacts from 1000 BC to 200 AD. The building that houses the museum was constructed in the year 1812 and was then known as East Hill Bungalow. The bungalow was converted to an archaeological museum in 1976.
Read More


MSG_PRINT_CONTROL_VERIFY_COMPLETED, MSG_PRINT_CONTROL_SET_DOC_NAME
These messages are normally used only to respond to messages sent out by the Print Control.
void MSG_PRINT_CONTROL_VERIFY_COMPLETED( Boolean continue);
If you have decided to verify the user's Print dialog box choices, you must send this message back to the Print Control in response to
MSG_PRINT_VERIFY_PRINT_REQUEST
. If
true
is passed, the Print Control will continue preparing the job for printing. If the value passed is
false
, the print will be cancelled. It is up to the application to explain the problem to the user.
Source: Unrestricted, normally the
PCI_output
object.
Destination: Any PrintControl object.
Parameters: continue Flag signalling whether printing should continue or be cancelled.
Return: Nothing.
Interception: Unlikely.
void MSG_PRINT_CONTROL_SET_DOC_NAME( char * string);
This message must be sent by the
PCI_docNameOutput
before the print job can be spooled. It is sent in response to a
MSG_PRINT_GET_DOC_NAME
from the Print Control. The string argument should be something that will allow the user to recognize the print job in the Printer Control Panel.
Source: Unrestricted--normally the
PCI_docNameOutput
object.
Destination: Any PrintControl object.
Parameters: string The document's name, as a null-terminated string. Maximum length of this string is FILE_LONGNAME_LENGTH+1.
Return: Nothing.
Interception: Unlikely.


?6
7
8
9
10
Z
£
v
The
New
York
copyright
reserved
botanical
Garden
Mosiera
longipes
(Berg)
Small
det.
Andrew
Salywon
July
2003
Arizona
State
University
Herbarium
-
ASU
BIMINI
ISLAND
GROUP
Bahamas,
B.W.I.
R.
A.
&
E.
S.
Howard
10275
May
1948
Collected
for
the
N.Y.
Botanical
Garden
in
cooperation
with
the
Lemer
Marine
Laboratory
of
the
American
Museum
of
Natural
History
Ananoois
longipes
(Berg.)
Britton
Low
diffuse
shrub
with
arching
branches;
flowers
white.
Ea3t
Bimini
1602343
Legend -
Level of confidence that token is an accurately-transcribed word
extremely low
very low
low
undetermined
medium
high
very high


Prediction of epitope immunogenicity for CD8+ Cell
A high immunogenicity score indicates increased confidence that the denoted peptide-HLA complex will trigger a T cell response, compared to another peptide with a lower immunogenicity score. However, it does not necessarily reflect the actual degree of immunogenicity, due to a lack of TCR sequence diversity information for a given individual. Specifically, the immunogenicity score reflects confidence based on experimental evidence of for immunogenicity in the training data. For example, if a single peptide (peptide-1) produced an immune response in 40 out of 40 experiments, it will result in a higher confidence observation than another peptide (peptide-2) that results in immune response 1 out of 6 experiments. DeepImmunoCNN uses a beta-binomial model to incorporate this evidence when deriving an immunogenicity potential from the training data. Hence, the output value reflects the confidence of the prediction.
Selecting this option will additionally produce peptide-MHC binding predications in addition to immunogenicity predictions for queried peptide(s). Any valid CD8+ T cell mediated immune response requires a peptide is presented by the HLA allele and the HLA-peptide complex triggers a T-cell response. DeepImmuno-CNN predicts immunogenicity and not MHC-binding. By selecting this option, the user can assess the likelihood of both binding and immunogenicity in a single query. As such, this analysis requires approximately 30-60s additional runtime, as it calls the python package MHCflurry.
In certain cases, the peptide query for a specific HLA allele, will produce unreliable results, when the HLA-allele has few immunogenicity experimental results in our training dataset. As such, DeepImmunno-CNN is not able to reliably infer its immunogenicity.


Edit Profile
{% if profile.name %}
Username: {{profile.name}}
{% endif %}
{% if session.get('is_authenticated') %}
{% endif %}
{% if profile.name %}
{% else %}
{% endif %}
Adding or generating your SSH public key:
- To find out, open your terminal and type: ls ~/.ssh
- If there is a .pub extension, such as id_rsa.pub, that is your SSH key.
- Type: cat ~/.ssh/id_rsa.pub in order to see your key.
- Copy the selection to the clipboard.
- Paste the contents of the clipboard in the corresponding box on your VC3 Profile. Please only paste the SSH ( typically ending in .pub) public key into this box.
- In a terminal, type:
ssh-keygen -t rsa
- Hit enter for the default location, and optionally enter a password. This will generate two files: A private key file (typically id_rsa) and a key file (typically id_rsa.pub). The private key should never be shared, and VC3 will never ask you for your private key.
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Dragonrock [bd54], mountain, in Tenka, peasants: 126
Last updated Turn #101
Dragonrock [bd54], mountain, in Tenka, peasants: 126
------------------------------------------------------------------------
17: Jupiter [m8j], Imperial Empire, duke, with eight soldiers, 35 archers,
17: 16 lt. xbowmen, arrived from the north, accompanied by:
17: Odin [y5z], Imperial Empire, with 39 archers
17: Hera [g3f], Imperial Empire, with 37 pikemen
17: Thor [r4g], Imperial Empire, with 29 pikemen
17: Apollo [b5e], Imperial Empire, with 20 lt. xbowmen
17: Helios [p6i], Imperial Empire, with 29 pikemen
17: Eos [a2t], Imperial Empire, with 14 pikemen, one skirmisher
17: Venus [w5u], Imperial Empire, with 30 peasants, five soldiers
17: Aryon [t6i], Imperial Empire, duke, with 22 soldiers, six lt.
17: xbowmen
17: Lanthara [r4v], Imperial Empire, with eight soldiers, 20 pikemen
17: Licia [i1l], Imperial Empire, with 25 soldiers
17: Thrix [n3v], Imperial Empire, with 37 soldiers
17: Manis [h3g], Imperial Empire, with 12 lt. xbowmen
18: Jupiter [m8j], Imperial Empire, duke, with eight soldiers, 35 archers,
18: 16 lt. xbowmen, went east, accompanied by:
18: Odin [y5z], Imperial Empire, with 39 archers
18: Hera [g3f], Imperial Empire, with 37 pikemen
18: Thor [r4g], Imperial Empire, with 29 pikemen
18: Apollo [b5e], Imperial Empire, with 20 lt. xbowmen
18: Helios [p6i], Imperial Empire, with 29 pikemen
18: Eos [a2t], Imperial Empire, with 14 pikemen, one skirmisher
18: Venus [w5u], Imperial Empire, with 30 peasants, five soldiers
18: Aryon [t6i], Imperial Empire, duke, with 21 soldiers, seven lt.
18: xbowmen
18: Lanthara [r4v], Imperial Empire, with eight soldiers, 20 pikemen
18: Licia [i1l], Imperial Empire, with 25 soldiers
18: Thrix [n3v], Imperial Empire, with 37 soldiers
18: Manis [h3g], Imperial Empire, with 12 lt. xbowmen
30: It has stopped raining.
30: The population grows by one peasant.
Routes leaving Dragonrock:
North, mountain, to Dragonrock [bc54], 10 days
Garrison [ey6q], garrison, uncontrolled, with 23 lt. xbowmen
East, forest, to Shade Wood [bd55], 8 days
South, mountain, to Dragonrock [be54], 10 days
West, forest, to Black Forest [bd53], 8 days
Garrison [ba9m], garrison, uncontrolled, with two soldiers
Down, mine-shaft, to South Riverwind Pit [p66], 0 days
Seen here:
Garrison [dq2l], garrison, uncontrolled, with eight peasants


|
Bullet Collision Detection & Physics Library
|
Go to the source code of this file.
Classes | |
| class | btVector3 |
| btVector3 can be used to represent 3D points and vectors. More... | |
| class | btVector4 |
| struct | btVector3FloatData |
| struct | btVector3DoubleData |
Macros | |
| #define | btVector3Data btVector3FloatData |
| #define | btVector3DataName "btVector3FloatData" |
Functions | |
| btVector3 | operator+ (const btVector3 &v1, const btVector3 &v2) |
| Return the sum of two vectors (Point symantics) More... | |
| btVector3 | operator* (const btVector3 &v1, const btVector3 &v2) |
| Return the elementwise product of two vectors. More... | |
| btVector3 | operator- (const btVector3 &v1, const btVector3 &v2) |
| Return the difference between two vectors. More... | |
| btVector3 | operator- (const btVector3 &v) |
| Return the negative of the vector. More... | |
| btVector3 | operator* (const btVector3 &v, const btScalar &s) |
| Return the vector scaled by s. More... | |
| btVector3 | operator* (const btScalar &s, const btVector3 &v) |
| Return the vector scaled by s. More... | |
| btVector3 | operator/ (const btVector3 &v, const btScalar &s) |
| Return the vector inversely scaled by s. More... | |
| btVector3 | operator/ (const btVector3 &v1, const btVector3 &v2) |
| Return the vector inversely scaled by s. More... | |
| btScalar | btDot (const btVector3 &v1, const btVector3 &v2) |
| Return the dot product between two vectors. More... | |
| btScalar | btDistance2 (const btVector3 &v1, const btVector3 &v2) |
| Return the distance squared between two vectors. More... | |
| btScalar | btDistance (const btVector3 &v1, const btVector3 &v2) |
| Return the distance between two vectors. More... | |
| btScalar | btAngle (const btVector3 &v1, const btVector3 &v2) |
| Return the angle between two vectors. More... | |
| btVector3 | btCross (const btVector3 &v1, const btVector3 &v2) |
| Return the cross product of two vectors. More... | |
| btScalar | btTriple (const btVector3 &v1, const btVector3 &v2, const btVector3 &v3) |
| btVector3 | lerp (const btVector3 &v1, const btVector3 &v2, const btScalar &t) |
| Return the linear interpolation between two vectors. More... | |
| void | btSwapScalarEndian (const btScalar &sourceVal, btScalar &destVal) |
| btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization More... | |
| void | btSwapVector3Endian (const btVector3 &sourceVec, btVector3 &destVec) |
| btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization More... | |
| void | btUnSwapVector3Endian (btVector3 &vector) |
| btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization More... | |
| template<class T > | |
| void | btPlaneSpace1 (const T &n, T &p, T &q) |
| #define btVector3Data btVector3FloatData |
Definition at line 27 of file btVector3.h.
| #define btVector3DataName "btVector3FloatData" |
Definition at line 28 of file btVector3.h.
Return the angle between two vectors.
Definition at line 911 of file btVector3.h.
Return the cross product of two vectors.
Definition at line 918 of file btVector3.h.
Return the distance between two vectors.
Definition at line 904 of file btVector3.h.
Return the distance squared between two vectors.
Definition at line 897 of file btVector3.h.
Return the dot product between two vectors.
Definition at line 890 of file btVector3.h.
|
inline |
Definition at line 1251 of file btVector3.h.
btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
Definition at line 1208 of file btVector3.h.
btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
Definition at line 1231 of file btVector3.h.
Definition at line 924 of file btVector3.h.
|
inline |
btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
Definition at line 1240 of file btVector3.h.
Return the linear interpolation between two vectors.
| v1 | One vector |
| v2 | The other vector |
| t | The ration of this to v (t = 0 => return v1, t=1 => return v2) |
Definition at line 934 of file btVector3.h.
Return the elementwise product of two vectors.
Definition at line 770 of file btVector3.h.
Return the vector scaled by s.
Definition at line 820 of file btVector3.h.
Return the vector scaled by s.
Definition at line 836 of file btVector3.h.
Return the sum of two vectors (Point symantics)
Definition at line 754 of file btVector3.h.
Return the difference between two vectors.
Definition at line 786 of file btVector3.h.
Return the negative of the vector.
Definition at line 806 of file btVector3.h.
Return the vector inversely scaled by s.
Definition at line 843 of file btVector3.h.
Return the vector inversely scaled by s.
Definition at line 860 of file btVector3.h.


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17-Year-Old Carries On Playing After Rogue Ball Fractures Both His Testicles
by Julia BanimA teenager from Massachusetts was left with fractured testicles after a ball hit him in the groin during a lacrosse game.
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The 17-year-old had reportedly not been been wearing a protective guard when the ball struck his scrotum at high speed, rupturing both his testicles.
Immediately after the incident, the injured teen suffered ‘significant scrotal pain’ and was subsequently removed from the game. However, following a brief rest, he was able to return to the pitch.
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The wince-inducing case has since been documented in the medical journal Urology Case Reports, which detailed how the pain in the teenager’s scrotum worsened, leading to him seeking emergency assistance at Lahey Hospital & Medical Center in Burlington, Massachusetts.
Following an ultrasound, medics found the teen’s blood flow to be normal, but noted that fluid had pooled around both testicles, meaning treatment was required.
The teenager was given a variety of options, which included surgery to drain the fluid. However, wanting to avoid surgery, he was instead admitted for overnight observation followed by a repeat ultrasound.
The next day, the second ultrasound revealed blood had continued to collect around his testes, meaning treatment known as ‘scrotal exploration’ would be necessary.
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The operation involved medics repairing the testicles by patching up the outer layer in order to keep the contents firmly inside. Both testicles were found to have large anterior fractures, with some tissue having been forced out of position.
Medics were fortunately able to remove the damaged tissue before closing up the right testicle. However, the left testicle proved a bit trickier, with medics using a procedure known as ‘tunica vaginalis flap’ to repair the testicular rupture.
The mended testicles were eventually placed back in the scrotum in the correct position. The scrotum was then drained, before being closed up in multiple layers.
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According to the study:
Blunt testicular rupture is a rare event that warrants rapid diagnosis and prompt surgical repair to maintain viable testicular tissue. Ultrasonography is the gold standard diagnostic tool with excellent sensitivity and specificity.
Scrotal exploration should be utilized in cases with high clinical concern for rupture even with ambiguous radiographic findings.
A tunica vaginalis flap can be considered to augment difficult repairs and thereby avoid significant testicular debridement, parenchymal loss, or orchiectomy. Sequelae of repaired testicular rupture, especially with regard to fertility, are not well understood.
You can see a picture of the ruptured testicles here. Warning – graphic image:
Details about the patient’s recovery process have not been made clear. However, the case report suggests the op was a success.
Jules studied English Literature with Creative Writing at Lancaster University before earning her masters in International Relations at Leiden University in The Netherlands (Hoi!). She then trained as a journalist through News Associates in Manchester. Jules has previously worked as a mental health blogger, copywriter and freelancer for various publications.


'3 Black Chicks Review...'
Beyond The Mat (1999) Rated R; running time 102 minutes Genre: Documentary IMDB site: http://us.imdb.com/Details?0218043 Official site: http://www.beyondthemat.net/ Written by: Barry W. Blaustein Directed by: Barry W. Blaustein Starring: Terry Funk, Mick "Mankind" Foley, Jake "The Snake" Roberts, Vince McMahon, Vicki Funk, Stacey Funk, Brandee Funk, Collette Foley, Dewey Foley, Noelle Foley, Brandy Smith, "Chyna", Paul Heyman, Roland Alexander, Tony Jones, Mike Modest, Darren "Puke" Drozdov, Duane "The Rock" Johnson
Review Copyright Rose Cooper, 2000 Review URL: http://www.3blackchicks.com/bamsbeyond.html
I have a confession to make: I'm a closet Pro Rasslin' fan ["Rasslin'", by the way, is a different creature than "wrestling". The latter is what high school, college, and Olympic grapplers, do; the former is what crazy men and women dressed in tights of various fit and style and in cahoots with one another, do for little to no pay, or for crazy amounts of money, depending on many factors, some of which will be addressed below. But yet again, I digress].
Ahem. I repeat: I'm a closet Pro Rasslin' fan--or at least, I used to be. I watched it a lot as a kid back in the days of "The Sheik" and "BoBo Brazil", and like most of America, lost interest in it, until the heyday of the likes of "Hulk Hogan", Randy "Macho Man" Savage, and my personal favorite, "The Ultimate Warrior". But though I've glanced at a few current World Wrestling Federation (WWF) and World Championship Wrestling (WCW) shows from time to time with my son, I've lost interest in the spectacle that is Pro Rasslin', because in its current incarnation, it's way too raunchy, soap opera-ish (and bad soap opera, at that), blatantly stereotypical and misogynic (all part of the soap, I'm sure they'd say), and when you get down to it, unabashedly aimed at the lowest common denominator.
Most people know, and even accept, that these "fights" are pre-ordained in their outcome--boxing promoter Don King would be a natural in this business--but the big question remains: is it fake? And if is not, who are these fools and why would they subject their bodies to the pain?
The Story (WARNING: **spoilers contained below**): The documentary Beyond The Mat takes a look at the Sports Entertainment industry of Professional Wrestling from the viewpoint of three of its major players: Terry Funk, a 53-year-old wrestler nearing the end of his career; Mick Foley, a gentle father and husband, but an all-out lunatic within the ring; and Jake "The Snake" Roberts, formerly a "golden boy" with the WWF, but now a crack addict whose glory days have come and gone. It also addresses the differences between the minor, independent leagues and the "big three" of Pro Rasslin': the WWF, WCW, and Extreme Championship Wrestling (ECW), itself a controversial entity because of its high violence content.
The Upshot: There was one overwhelming emotion that hit me as I was watching this documentary: sadness. Above all else, I felt incredibly sad for each of the characters--make that, each of the three main people--being discussed, and even more, for their families. Of the three, Mick Foley (aka "Mankind", "Dude Love", and "Cactus Jack") seemed the most centered and stable outside of the ring, and clearly he loved his family as much as they loved him. But the kinds of horrific punishment he puts himself through for love of his (pseudo) sport was sickening to watch for me as an outsider; I shudder to think what his young children dream of every night, after they saw it up close and personal. Terry Funk's mindset was just beyond my comprehension; why he would continue to, basically, slowly kill himself, is something I do not understand. I do give him props, though, for being able to swallow such punishment at his age--and compared to Muhammed Ali in his degenerative state, Funk is not so bad off. But then again, say the name "Ali", and you get instant recognition. Say "Funk", and most people think of a righteous bass groove...
But by far, my heart went out most to Jake "The Snake" Roberts. Foley is one of the new(er) kids on the block; Funk is from the *original* Old School--but The Snake was from back in my rasslin'-fan day. Jake's trademark move, the DDT, was something to watch. His sneer would quickly turn into a smile that you knew hid teeth that would just as quickly bite you. And though those huge pythons he carried to the ring never seemed to a real threat, you went along with the charade when he tossed them on his opponent, because, after all, Jake wasn't The Snake without them. But like many of the older WWF (and then later, WCW) characters, Jake took a back seat to the new, younger guys--and then one day, he was gone. And by then, I'd gotten older, and my interest in Rasslin' faded, so I hadn't thought much about Roberts, until this documentary. That he had gotten older and fatter was no real surprise; it happens to the best of us. But to hear that he was a crack addict...man, that threw me for a loop. I'm glad that filmmaker Barry Blaustein got Roberts to open up to him, but unfortunately, the viewer never really gets as much of Roberts as we do of Blaustein talking about Roberts' problems.
 Among these are: WWF owner Vince McMahon, whose family has been in the business for a very long time, and is very, very rich; Darren Drozdov, a former NFL player (as are many Pro Rasslers) who has the distinct "talent" of being able to vomit on command; female Rassler "Chyna", built like a man but made like a woman; Paul Heyman of the ECW, a league that has little respect for the WWF or WCW, but with all of their violence, seems to respect the individuals within its own organization; Tony Jones and Mike Modest, part-time Rasslers trying to get into the WWF with the help of their promoter, Roland Alexander; and current WWF heartthrob Duane "The Rock" Johnson, shown here competing against Foley as a Bad Guy (though last time I watched, The Rock is now a Good Character).
As interesting a documentary as it is, I wonder why Beyond The Mat was released in theaters instead of on TV; there have already been quite a few "Pro Wrestling Expose" types of documentaries on the small screen, so why this one here, now? And I have to wonder about something else, too. Stay with me here: writer/director Blaustein makes no bones about his love for the pseudo-sport, and it's clear that the athletes involved are pretty comfortable, even chummy, with Blaustein. The official "Beyond" website proclaims that this documentary is something that WWF President Vince McMahon "Doesn't want you to see!"--but isn't that something you would expect someone involved with the likes of McMahon, to say? Hmmm...and didn't this documentary beat the WCW's theatrical "comedy" debut, Ready To Rumble, to the theaters? Hmmm...and weren't there an awful lot of WWF "superstars" in this documentary, and no WCW stars to speak of? Say it with me now: HMMMMM...
There were many issues that weren't addressed in this documentary that I wish had been: namely, the blatant misogyny, stereotype characters, the history of the pseudo-sport (highlighting the way it's changed over the years), the way the fans are manipulated, the oodles of money gleaned from said fans (McMahon's WWF was reported to be worth almost a billion dollars, true, but a closer examination could've been done), the raising of the violence bar (namely, with the ECW) and what its logical progression will be, and especially the athletes' reactions to the death of WWF star Owen Hart last year. Perhaps that's another documentary for another time--by another filmmaker not so in love with the world of Pro Rasslin'.
The "Black Factor" [ObDisclaimer: We Are Not A Monolith]: And speaking of "stereotype characters"...
For as long as Pro Rasslin' has existed, at least in the United States, there have been stereotype characters involved, but as time has gone on, things have become more and more blatant. For every one average joe "The Rock" characters out there, there are a dozen shameful characters like "Razor Ramon" (a greasy latino caricature, formerly from the WWF), and "The Godfather" (a "pimp daddy", also from the WWF, who struts down the aisle with skanky hoochies in tight dresses; he calls them his "Ho-Train"--rarely, if ever, doing any actual Rasslin'). While I can ignore, for the most part, everything else about the three-ring circus known as Pro Rasslin', these types of characters are intolerable.
There is one upside to the "Godfather" character and his "Ho-Train", though: there haven't been any Black women on it. So far.
Bammer's Bottom Line: I've flip-flopped on my final rating on this, but in the end decided on a greenlight, primarily for all the millions (ObRock: and millions) of Pro Rasslin' fans who think it is something to be emulated. They *really* need to go see this one.  Uh...
"Beyond The Mat" (rating: greenlight): I still wonder whatever happened to The Ultimate Warrior.
3 Black Chicks...Movie Reviews With Flava! /~\ Rose "Bams" Cooper /','\ 3BlackChicks Enterprises /','`'\ Copyright Rose Cooper, 2000 /',',','/`, EMAIL<EMAIL_ADDRESS>ICQ: 7760005 `~-._'c / http://www.3blackchicks.com/ `\ ( http://www.dealpilot.com/?partner=1987 /====\
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|
JavaTM 2 Platform Standard Ed. 5.0 |
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| PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
| SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object javax.management.MBeanInfo
public class MBeanInfo
Describes the management interface exposed by an MBean; that is, the set of attributes and operations which are available for management operations. Instances of this class are immutable. Subclasses may be mutable but this is not recommended.
The contents of the MBeanInfo
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The contents of the MBeanInfo
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and of any contained constructors,
attributes, operations, and notifications; and the names and
descriptions of parameters to constructors and operations.
| Constructor Summary | |
|---|---|
MBeanInfo(String className,
String description,
MBeanAttributeInfo[] attributes,
MBeanConstructorInfo[] constructors,
MBeanOperationInfo[] operations,
MBeanNotificationInfo[] notifications)
Constructs an MBeanInfo . |
| Method Summary | |
|---|---|
Object |
clone()
Returns a shallow clone of this instance. |
boolean |
equals(Object o)
Compare this MBeanInfo to another. |
MBeanAttributeInfo[] |
getAttributes()
Returns the list of attributes exposed for management. |
String |
getClassName()
Returns the name of the Java class of the MBean described by this MBeanInfo . |
MBeanConstructorInfo[] |
getConstructors()
Returns the list of the public constructors of the MBean. |
String |
getDescription()
Returns a human readable description of the MBean. |
MBeanNotificationInfo[] |
getNotifications()
Returns the list of the notifications emitted by the MBean. |
MBeanOperationInfo[] |
getOperations()
Returns the list of operations of the MBean. |
int |
hashCode()
Returns a hash code value for the object. |
| Methods inherited from class java.lang.Object |
|---|
finalize, getClass, notify, notifyAll, toString, wait, wait, wait |
| Constructor Detail |
|---|
public MBeanInfo(String className, String description, MBeanAttributeInfo[] attributes, MBeanConstructorInfo[] constructors, MBeanOperationInfo[] operations, MBeanNotificationInfo[] notifications) throws IllegalArgumentException
MBeanInfo
.
className
- The name of the Java class of the MBean described
by this MBeanInfo
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syntactically legal Java class name. It does not have to be a
Java class known to the MBean server or to the MBean's
ClassLoader. If it is a Java class known to the MBean's
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class's public methods include those that would appear in a
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This may be null with the same effect as a zero-length array.constructors
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MBean. This may be null with the same effect as a zero-length
array.operations
- The list of operations of the MBean. This
may be null with the same effect as a zero-length array.notifications
- The list of notifications emitted. This
may be null with the same effect as a zero-length array.
IllegalArgumentException
| Method Detail |
|---|
public Object clone()
Returns a shallow clone of this instance. The clone is obtained by simply calling super.clone(), thus calling the default native shallow cloning mechanism implemented by Object.clone(). No deeper cloning of any internal field is made.
Since this class is immutable, the clone method is chiefly of interest to subclasses.
clone
in class Object
Cloneable
public String getClassName()
MBeanInfo
.
public String getDescription()
public MBeanAttributeInfo[] getAttributes()
MBeanAttributeInfo
object.
The returned array is a shallow copy of the internal array,
which means that it is a copy of the internal array of
references to the MBeanAttributeInfo
objects
but that each referenced MBeanAttributeInfo
object is not copied.
MBeanAttributeInfo
objects.public MBeanOperationInfo[] getOperations()
MBeanOperationInfo
object.
The returned array is a shallow copy of the internal array,
which means that it is a copy of the internal array of
references to the MBeanOperationInfo
objects
but that each referenced MBeanOperationInfo
object is not copied.
MBeanOperationInfo
objects.public MBeanConstructorInfo[] getConstructors()
Returns the list of the public constructors of the MBean.
Each constructor is described by an
MBeanConstructorInfo
object.
The returned array is a shallow copy of the internal array,
which means that it is a copy of the internal array of
references to the MBeanConstructorInfo
objects but
that each referenced MBeanConstructorInfo
object
is not copied.
The returned list is not necessarily exhaustive. That is, the MBean may have a public constructor that is not in the list. In this case, the MBean server can construct another instance of this MBean's class using that constructor, even though it is not listed here.
MBeanConstructorInfo
objects.public MBeanNotificationInfo[] getNotifications()
MBeanNotificationInfo
object.
The returned array is a shallow copy of the internal array,
which means that it is a copy of the internal array of
references to the MBeanNotificationInfo
objects
but that each referenced MBeanNotificationInfo
object is not copied.
MBeanNotificationInfo
objects.public boolean equals(Object o)
Compare this MBeanInfo to another. Two MBeanInfo objects
are equal iff they return equal values for getClassName()
and for getDescription()
, and the
arrays returned by the two objects for getAttributes()
, getOperations()
, getConstructors()
, and getNotifications()
are
pairwise equal. Here "equal" means Object.equals(Object)
, not identity.
If two MBeanInfo objects return the same values in one of their arrays but in a different order then they are not equal.
equals
in class Object
o
- the object to compare to.
o
is an MBeanInfo that is equal
to this one according to the rules above.Object.hashCode()
,
Hashtable
public int hashCode()
Object
java.util.Hashtable
.
The general contract of hashCode
is:
hashCode
method on each of
the two objects must produce the same integer result.
Object.equals(java.lang.Object)
method, then calling the hashCode method on each of the
two objects must produce distinct integer results. However, the
programmer should be aware that producing distinct integer results
for unequal objects may improve the performance of hashtables.
As much as is reasonably practical, the hashCode method defined by class Object does return distinct integers for distinct objects. (This is typically implemented by converting the internal address of the object into an integer, but this implementation technique is not required by the JavaTM programming language.)
hashCode
in class Object
Object.equals(java.lang.Object)
,
Hashtable
|
JavaTM 2 Platform Standard Ed. 5.0 |
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Eden Hazard heaps praise on Real Madrid teammate, calls him ‘best in the world’
by HarigovindOn Monday, Real Madrid superstar Eden Hazard showered praise on teammate Karim Benzema, before proceeding to call him “the best striker in the world”.
The Belgian international shared his insights on the 32-year-old forward while speaking in the press conference ahead of his country’s UEFA Euro 2020 qualifier match against Cyprus on Tuesday. Both players have been teammates at Real Madrid for about four months now, after Hazard joined Los Blancos from Chelsea earlier this summer.
“After having played with him for three or four months, I think he [Benzema] is currently the best striker in the world. But besides his role as a striker, he makes others better too,” Hazard said, before adding:
“I’m sorry for him [for his exile from the France national team].”
“But it’s always easier to play against a team that Benzema is not in!”
The 28-year-old also opened up on Real Madrid’s slow start to the ongoing 2019-20 season, after which they seemed to have picked up some pace. In their last five matches, the Merengues scored 16 goals, but conceded none.
“You can always do better, of course. I think that with Real Madrid, for a month, everything is going very well. We won matches and the team is progressing well, which is also easier for me,” the star attacker said, before concluding:
“I am in a good dynamic and I have to continue like this.”
Quotes via AS.


|
BTK
0.3dev.0
Open-source library to visualize/process biomechanical data
|
Chain of segments linked by joints and defined only by a proximal and distal segment. More...
#include <btkChain.h>
Public Types | |
| typedef SharedPtr< const DynamicChain > | ConstPointer |
| typedef SharedPtr< DynamicChain > | Pointer |
| Public Types inherited from btk::Chain | |
| typedef SharedPtr< const Chain > | ConstPointer |
| typedef SharedPtr< Chain > | Pointer |
| Public Types inherited from btk::DataObjectLabeled | |
| typedef SharedPtr< const DataObjectLabeled > | ConstPointer |
| typedef SharedPtr < DataObjectLabeled > | Pointer |
| Public Types inherited from btk::DataObject | |
| typedef SharedPtr< const DataObject > | ConstPointer |
| typedef SharedPtr< DataObject > | Pointer |
| Public Types inherited from btk::Object | |
| typedef SharedPtr< const Object > | ConstPointer |
| typedef SharedPtr< Object > | Pointer |
Public Member Functions | |
| Chain::Pointer | Clone () |
| Segment::Pointer | GetDistalSegment () |
| Segment::Pointer | GetProximalSegment () |
| virtual SegmentCollection::Pointer | GetSegments () const |
| virtual bool | RemoveSegment (Segment::Pointer seg) |
| void | SetDistalSegment (Segment::Pointer seg) |
| void | SetProximalSegment (Segment::Pointer seg) |
| Public Member Functions inherited from btk::Chain | |
| virtual | ~Chain () |
| Public Member Functions inherited from btk::DataObjectLabeled | |
| const std::string & | GetDescription () const |
| const std::string & | GetLabel () const |
| virtual void | SetDescription (const std::string &description) |
| virtual void | SetLabel (const std::string &label) |
| Public Member Functions inherited from btk::DataObject | |
| DataObject * | GetParent () const |
| bool | HasParent () const |
| void | Modified () |
| void | SetParent (DataObject *parent) |
| void | Update () |
| Public Member Functions inherited from btk::Object | |
| unsigned long int | GetTimestamp () const |
Static Public Member Functions | |
| static Pointer | New (const std::string &label="", const std::string &desc="") |
| static Pointer | New (Segment::Pointer proximal, Segment::Pointer distal, const std::string &label, const std::string &desc="") |
Protected Member Functions | |
| DynamicChain (const std::string &label, const std::string &desc) | |
| DynamicChain (Segment::Pointer proximal, Segment::Pointer distal, const std::string &label, const std::string &desc) | |
| DynamicChain (const DynamicChain &toCopy) | |
| virtual void | UpdateSource (Model *newSource) |
| Protected Member Functions inherited from btk::Chain | |
| Chain (const std::string &label, const std::string &desc) | |
| Chain (const Chain &toCopy) | |
| Protected Member Functions inherited from btk::DataObjectLabeled | |
| DataObjectLabeled (const std::string &label="", const std::string &description="") | |
| DataObjectLabeled (const DataObjectLabeled &toCopy) | |
| Protected Member Functions inherited from btk::DataObject | |
| DataObject () | |
| DataObject (const DataObject &toCopy) | |
| virtual | ~DataObject () |
| Protected Member Functions inherited from btk::Object | |
| Object () | |
| Object (const Object &toCopy) | |
| virtual | ~Object () |
Additional Inherited Members | |
| Protected Attributes inherited from btk::Chain | |
| Model * | mp_Model |
Chain of segments linked by joints and defined only by a proximal and distal segment.
Smart pointer associated with a const DynamicChain object.
Smart pointer associated with a DynamicChain object.
|
protected |
Default Constructor. The proximal and distal segments as well as the attached model are set to null.
|
protected |
Constructor.
|
protected |
Copy constructor.
|
inlinevirtual |
Create a copy of the chain and return it as a shared pointer.
Implements btk::Chain.
|
inline |
Retuns the distal segment of the chain.
|
inline |
Retuns the proximal segment of the chain.
|
virtual |
Returns the segments in the chain contained between the proximal and the distal joints. This chain use the joints defined in the model to determine how to find its way between the segments.
Implements btk::Chain.
|
virtual |
If the given segment is one of the extremities, then it is replaced by the next segment. The method returns true if the chain is then empty, otherwise false.
Implements btk::Chain.
| void btk::DynamicChain::SetDistalSegment | ( | Segment::Pointer | seg | ) |
Sets the distal segment defining the chain.
| void btk::DynamicChain::SetProximalSegment | ( | Segment::Pointer | seg | ) |
Sets the proximal segment defining the chain.
|
protectedvirtual |
Internal method called from the attached model when this one is cloned or deeply copied.
Implements btk::Chain.