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/** @author Jia Pan */

#ifndef FCL_MATH_VARIANCE3_INL_H
#define FCL_MATH_VARIANCE3_INL_H

#include "fcl/math/variance3.h"

namespace fcl
{

//==============================================================================
extern template
class FCL_EXPORT Variance3<double>;

//==============================================================================
template <typename S>
Variance3<S>::Variance3()
{
  // Do nothing
}

//==============================================================================
template <typename S>
Variance3<S>::Variance3(const Matrix3<S>& sigma) : Sigma(sigma)
{
  init();
}

//==============================================================================
template <typename S>
void Variance3<S>::init()
{
  eigen_old(Sigma, sigma, axis);
}

//==============================================================================
template <typename S>
Variance3<S>& Variance3<S>::sqrt()
{
  for(std::size_t i = 0; i < 3; ++i)
  {
    if(sigma[i] < 0)
      sigma[i] = 0;

    sigma[i] = std::sqrt(sigma[i]);
  }

  Sigma.noalias()
      =  sigma[0] * axis.col(0) * axis.col(0).transpose();
  Sigma.noalias()
      += sigma[1] * axis.col(1) * axis.col(1).transpose();
  Sigma.noalias()
      += sigma[2] * axis.col(2) * axis.col(2).transpose();

  return *this;
}

} // namespace fcl

#endif
