covarianceFit.h

/*
 Copyright (C) 2021 aniket agarwalla <aniketagarwalla37@gmail.com>
 Copyright (C) 2022 nicolas mellado <nmellado0@gmail.com>
 
 This Source Code Form is subject to the terms of the Mozilla Public
 License, v. 2.0. If a copy of the MPL was not distributed with this
 file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
 
#pragma once
#include "./defines.h"
 
#include <Eigen/Dense>
 
namespace Ponca
{
 
    template < class DataPoint, class _WFunctor, typename T>
    class CovarianceFitBase : public T
    {
    PONCA_FITTING_DECLARE_DEFAULT_TYPES
 
    protected:
        enum
        {
            Check = Base::PROVIDES_MEAN_POSITION,
            PROVIDES_POSITION_COVARIANCE
        };
 
    public:
        using MatrixType = typename DataPoint::MatrixType; 
        using Solver = Eigen::SelfAdjointEigenSolver<MatrixType>;
 
    protected:
        // computation data
        MatrixType m_cov {MatrixType::Zero()};     
        Solver m_solver;  
    public:
        PONCA_EXPLICIT_CAST_OPERATORS(CovarianceFitBase,covarianceFit)
        PONCA_FITTING_DECLARE_INIT_ADD_FINALIZE
 
        PONCA_MULTIARCH inline Scalar surfaceVariation() const;
 
        PONCA_MULTIARCH inline const Solver& solver() const { return m_solver; }
    };
 
 
    template < class DataPoint, class _WFunctor, int DiffType, typename T>
    class CovarianceFitDer : public T
    {
    PONCA_FITTING_DECLARE_DEFAULT_TYPES
    PONCA_FITTING_DECLARE_MATRIX_TYPE
    PONCA_FITTING_DECLARE_DEFAULT_DER_TYPES
 
    protected:
        enum
        {
            Check = Base::PROVIDES_PRIMITIVE_DERIVATIVE &&
                    Base::PROVIDES_MEAN_POSITION_DERIVATIVE &&
                    Base::PROVIDES_POSITION_COVARIANCE,
            PROVIDES_POSITION_COVARIANCE_DERIVATIVE
        };
 
    protected:
        MatrixType  m_dCov[Base::NbDerivatives];
 
    public:
        PONCA_EXPLICIT_CAST_OPERATORS_DER(CovarianceFitDer,covarianceFitDer)
        PONCA_FITTING_DECLARE_INIT_ADDDER_FINALIZE
    }; //class CovarianceFitDer
 
#include "covarianceFit.hpp"
 
} //namespace Ponca