RobWorkProject  24.5.15-
Classes | Namespaces
HyperSphere.hpp File Reference

A hyper-sphere of K dimensions. More...

#include <rw/core/Ptr.hpp>
#include <Eigen/Core>
#include <vector>

Classes

class  HyperSphere
 A hyper-sphere of K dimensions. More...
 

Namespaces

 rw
 Deprecated namespace since 16/4-2020 for this class.
 
 rw::geometry
 Loading and storing of CAD models.
 

Detailed Description

A hyper-sphere of K dimensions.

Functions are provided to create (almost) uniform distribution of points on a hyper-sphere as shown in [1].

The distribution of points is illustrated below for 2 and 3 dimensional hyper-spheres. Notice that the tessellation is best when \( \delta\) is small.

Distribution of points for K=2 and K=3.

[1] Lovisolo, L., and E. A. B. Da Silva. "Uniform distribution of points on a hyper-sphere with applications to vector bit-plane encoding." IEE Proceedings-Vision, Image and Signal Processing 148.3 (2001): 187-193.