org.openpnp.util

Class Utils2D

java.lang.Object

org.openpnp.util.Utils2D

public class Utils2D
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Utils2D.AffineInfo A class to hold information about an affine transform

Constructor Summary

Constructors

Constructor and Description
Utils2D()

Method Summary

Modifier and Type	Method and Description
static RealMatrix	addToAllColumns(RealMatrix A, RealMatrix colMatrix) Adds colMatrix to each column of matrix A and returns the result
static Utils2D.AffineInfo	affineInfo(java.awt.geom.AffineTransform tx) Returns an AffineInfo object containing information about the affine transform tx.
static double	angleNorm(double val)
static double	angleNorm(double val, double lim)
static Location	calculateBoardLocation(BoardLocation boardLocation, Placement placementA, Placement placementB, Location observedLocationA, Location observedLocationB) Given an existing BoardLocation, two Placements and the observed location of those two Placements, calculate the actual Location of the BoardLocation.
static Location	calculateBoardPlacementLocation(BoardLocation bl, Location placementLocation)
static Location	calculateBoardPlacementLocationInverse(BoardLocation bl, Location placementLocation)
static RealMatrix	computeCentroid(RealMatrix A) Returns a column matrix whose entries are the arithmetic average of each corresponding row of matrix A.
static java.awt.geom.AffineTransform	deriveAffineTransform(double sourceX1, double sourceY1, double sourceX2, double sourceY2, double destX1, double destY1, double destX2, double destY2)
static java.awt.geom.AffineTransform	deriveAffineTransform(double sourceX1, double sourceY1, double sourceX2, double sourceY2, double sourceX3, double sourceY3, double destX1, double destY1, double destX2, double destY2, double destX3, double destY3)
static java.awt.geom.AffineTransform	deriveAffineTransform(java.util.List<Location> source, java.util.List<Location> destination) Returns the least squared error affine transform that transforms the list of source locations to the corresponding list of destination locations, see the discussion at https://groups.google.com/forum/?utm_medium=email&utm_source=footer#!msg/openpnp/Wok_-OyVdnA/Z2YnhNoYAwAJ *
static java.awt.geom.AffineTransform	deriveAffineTransform(Location source1, Location source2, Location dest1, Location dest2)
static java.awt.geom.AffineTransform	deriveAffineTransform(Location source1, Location source2, Location source3, Location dest1, Location dest2, Location dest3)
static java.awt.geom.AffineTransform	deriveAffineTransform(Utils2D.AffineInfo affineInfo) Returns an affine transform based on the affineInfo parameter Although there are many ways to decompose an affine transform, this implementation treats the transform as consisting of, in order, an xy scaling, an x shear, a rotation, and finally a translation, i.e., destinationPoint = translation * rotation * shear * scale * sourcePoint
static double	distance(java.awt.geom.Point2D.Double a, java.awt.geom.Point2D.Double b)
static double	getAngleFromPoint(Location firstPoint, Location secondPoint)
static Location	getPointAlongLine(Location a, Location b, Length distance) Calculate the Location along the line formed by a and b with distance from a.
static java.util.List<Placement>	mostDistantPair(java.util.List<Placement> points)
static double	normalizeAngle(double angle) Normalizes the angle to be greater than or equal to 0 and less than or equal to +360 degrees
static double	normalizeAngle180(double angle) Normalizes the angle to be greater than or equal to -180 and less than +180 degrees
static Point	rotatePoint(Point point, double c) Rotation is counter-clockwise for positive angles.
static RotatedRect	rotateToExpectedAngle(RotatedRect r, double expectedAngle) Rotate the given RotatedRect nearest to the expectedAngle in 90° steps, i.e., it will have the same shape but be ±45° within expectedAngle.
static Point	rotateTranslateCenterPoint(Point point, double c, double x, double y, Point center)
static Point	rotateTranslateScalePoint(Point point, double c, double x, double y, double scaleX, double scaleY)
static Point	scalePoint(Point point, double scaleX, double scaleY)
static RealMatrix	subtractFromAllColumns(RealMatrix A, RealMatrix colMatrix) Subtracts colMatrix from each column of matrix A and returns the result
static Point	translatePoint(Point point, double x, double y)
static double	triangleArea(Placement p1, Placement p2, Placement p3) Calculate the area of a triangle.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Utils2D

public Utils2D()

Method Detail

rotateTranslateScalePoint

public static Point rotateTranslateScalePoint(Point point,
                                              double c,
                                              double x,
                                              double y,
                                              double scaleX,
                                              double scaleY)

rotateTranslateCenterPoint

public static Point rotateTranslateCenterPoint(Point point,
                                               double c,
                                               double x,
                                               double y,
                                               Point center)

translatePoint

public static Point translatePoint(Point point,
                                   double x,
                                   double y)

rotatePoint

public static Point rotatePoint(Point point,
                                double c)

Rotation is counter-clockwise for positive angles.

Parameters:

point -

c -

Returns:

scalePoint

public static Point scalePoint(Point point,
                               double scaleX,
                               double scaleY)

affineInfo

public static Utils2D.AffineInfo affineInfo(java.awt.geom.AffineTransform tx)

Returns an AffineInfo object containing information about the affine transform tx. Although there are many ways to decompose an affine transform, this implementation treats the transform as consisting of, in order, an xy scaling, an x shear, a rotation, and finally a translation, i.e., destinationPoint = translation * rotation * shear * scale * sourcePoint

Parameters:

tx -

Returns:

deriveAffineTransform

public static java.awt.geom.AffineTransform deriveAffineTransform(Utils2D.AffineInfo affineInfo)

Returns an affine transform based on the affineInfo parameter Although there are many ways to decompose an affine transform, this implementation treats the transform as consisting of, in order, an xy scaling, an x shear, a rotation, and finally a translation, i.e., destinationPoint = translation * rotation * shear * scale * sourcePoint

Parameters:

ai -

Returns:

calculateBoardPlacementLocation

public static Location calculateBoardPlacementLocation(BoardLocation bl,
                                                       Location placementLocation)

calculateBoardPlacementLocationInverse

public static Location calculateBoardPlacementLocationInverse(BoardLocation bl,
                                                              Location placementLocation)

calculateBoardLocation

public static Location calculateBoardLocation(BoardLocation boardLocation,
                                              Placement placementA,
                                              Placement placementB,
                                              Location observedLocationA,
                                              Location observedLocationB)

Given an existing BoardLocation, two Placements and the observed location of those two Placements, calculate the actual Location of the BoardLocation. Note that the BoardLocation is only used to determine which side of the board the Placements are on - it's existing Location is not considered. The returned Location is the absolute Location of the board, including it's angle, with the Z value set to the Z value in the input BoardLocation. TODO Replace this with deriveAffineTransform. This is essentially a two fiducial check.

Parameters:

boardLocation -

placementA -

placementB -

observedLocationA -

observedLocationB -

Returns:

normalizeAngle

public static double normalizeAngle(double angle)

Normalizes the angle to be greater than or equal to 0 and less than or equal to +360 degrees

Parameters:

angle -

Returns:

normalizeAngle180

public static double normalizeAngle180(double angle)

Normalizes the angle to be greater than or equal to -180 and less than +180 degrees

Parameters:

angle -

Returns:

angleNorm

public static double angleNorm(double val,
                               double lim)

angleNorm

public static double angleNorm(double val)

rotateToExpectedAngle

public static RotatedRect rotateToExpectedAngle(RotatedRect r,
                                                double expectedAngle)

Rotate the given RotatedRect nearest to the expectedAngle in 90° steps, i.e., it will have the same shape but be ±45° within expectedAngle.

Parameters:

r -

expectedAngle - Note, the angle given here is right-handed, unlike the one stored in the RotatedRect.

Returns:

getPointAlongLine

public static Location getPointAlongLine(Location a,
                                         Location b,
                                         Length distance)

Calculate the Location along the line formed by a and b with distance from a.

Parameters:

a -

b -

distance -

Returns:

getAngleFromPoint

public static double getAngleFromPoint(Location firstPoint,
                                       Location secondPoint)

Parameters:

firstPoint -

secondPoint -

Returns:

The angle of the vector pointing from the first to the second point.

distance

public static double distance(java.awt.geom.Point2D.Double a,
                              java.awt.geom.Point2D.Double b)

deriveAffineTransform

public static java.awt.geom.AffineTransform deriveAffineTransform(Location source1,
                                                                  Location source2,
                                                                  Location source3,
                                                                  Location dest1,
                                                                  Location dest2,
                                                                  Location dest3)

deriveAffineTransform

public static java.awt.geom.AffineTransform deriveAffineTransform(Location source1,
                                                                  Location source2,
                                                                  Location dest1,
                                                                  Location dest2)

deriveAffineTransform

public static java.awt.geom.AffineTransform deriveAffineTransform(double sourceX1,
                                                                  double sourceY1,
                                                                  double sourceX2,
                                                                  double sourceY2,
                                                                  double sourceX3,
                                                                  double sourceY3,
                                                                  double destX1,
                                                                  double destY1,
                                                                  double destX2,
                                                                  double destY2,
                                                                  double destX3,
                                                                  double destY3)

deriveAffineTransform

public static java.awt.geom.AffineTransform deriveAffineTransform(double sourceX1,
                                                                  double sourceY1,
                                                                  double sourceX2,
                                                                  double sourceY2,
                                                                  double destX1,
                                                                  double destY1,
                                                                  double destX2,
                                                                  double destY2)

computeCentroid

public static RealMatrix computeCentroid(RealMatrix A)

Returns a column matrix whose entries are the arithmetic average of each corresponding row of matrix A.

Parameters:

A -

Returns:

addToAllColumns

public static RealMatrix addToAllColumns(RealMatrix A,
                                         RealMatrix colMatrix)

Adds colMatrix to each column of matrix A and returns the result

Parameters:

A -

colMatrix -

Returns:

subtractFromAllColumns

public static RealMatrix subtractFromAllColumns(RealMatrix A,
                                                RealMatrix colMatrix)

Subtracts colMatrix from each column of matrix A and returns the result

Parameters:

A -

colMatrix -

Returns:

deriveAffineTransform

public static java.awt.geom.AffineTransform deriveAffineTransform(java.util.List<Location> source,
                                                                  java.util.List<Location> destination)

Returns the least squared error affine transform that transforms the list of source locations to the corresponding list of destination locations, see the discussion at https://groups.google.com/forum/?utm_medium=email&utm_source=footer#!msg/openpnp/Wok_-OyVdnA/Z2YnhNoYAwAJ *

Parameters:

source -

destination -

Returns:

triangleArea

public static double triangleArea(Placement p1,
                                  Placement p2,
                                  Placement p3)

Calculate the area of a triangle. Returns 0 if the triangle is degenerate.

Parameters:

p1 -

p2 -

p3 -

Returns:

mostDistantPair

public static java.util.List<Placement> mostDistantPair(java.util.List<Placement> points)