% Foot point from 2D origin O to uncertain line l x = sugr_construct_footpoint_Ol_Point_2D(l) Wolfgang Förstner 1/2011 wfoerstn@uni-bonn.de sw 9/2016 See also sugr_Point_2D, sugr_get_isfinite_Point_2D, sugr_Line_2D, sugr_construct_mean_Point_2D, sugr_construct_midpoint_Point_2D, sugr_construct_intersection_Point_2D, sugr_construct_footpoint_xl_Point_2D
0001 %% Foot point from 2D origin O to uncertain line l 0002 % 0003 % x = sugr_construct_footpoint_Ol_Point_2D(l) 0004 % 0005 % Wolfgang Förstner 1/2011 0006 % wfoerstn@uni-bonn.de 0007 % 0008 % sw 9/2016 0009 % 0010 % See also sugr_Point_2D, sugr_get_isfinite_Point_2D, sugr_Line_2D, 0011 % sugr_construct_mean_Point_2D, sugr_construct_midpoint_Point_2D, 0012 % sugr_construct_intersection_Point_2D, sugr_construct_footpoint_xl_Point_2D 0013 0014 function Point_2D = sugr_construct_footpoint_Ol_Point_2D(l) 0015 0016 S3 = calc_S([0,0,1]'); 0017 A1 = calc_S(l.h) * S3; 0018 h = -A1 * l.h; 0019 A = A1 + calc_S(S3 * l.h)'; 0020 Clhh = sugr_get_CovM_homogeneous_Vector(l); 0021 Chh = A * Clhh * A'; 0022 0023 % generate minimal parameters 0024 Point_2D = sugr_Point_2D(h,Chh);