Math

A set of classes that encapsulate math related properties and functions. More...

Files
file	MathTypes.hh
	Forward declarations for the math classes.

Namespaces
	gazebo::math
	Math namespace.

Classes
class	gazebo::math::Angle
	An angle and related functions. More...
class	gazebo::math::BiQuad< T >
	Bi-quad filter base class. More...
class	gazebo::math::BiQuadVector3
	BiQuad vector3 filter. More...
class	gazebo::math::Box
	Mathematical representation of a box and related functions. More...
class	gazebo::math::Filter< T >
	Filter base class. More...
class	gazebo::math::Kmeans
	K-Means clustering algorithm. More...
class	gazebo::math::Matrix3
	A 3x3 matrix class. More...
class	gazebo::math::Matrix4
	A 3x3 matrix class. More...
class	gazebo::math::OnePole< T >
	A one-pole DSP filter. More...
class	gazebo::math::OnePoleQuaternion
	One-pole quaternion filter. More...
class	gazebo::math::OnePoleVector3
	One-pole vector3 filter. More...
class	gazebo::math::Plane
	A plane and related functions. More...
class	gazebo::math::Pose
	Encapsulates a position and rotation in three space. More...
class	gazebo::math::Quaternion
	A quaternion class. More...
class	gazebo::math::Rand
	Random number generator class. More...
class	gazebo::math::RotationSpline
	Spline for rotations. More...
class	gazebo::math::SignalStatistic
	Statistical properties of a discrete time scalar signal. More...
class	gazebo::math::Spline
	Splines. More...
class	gazebo::math::Vector2d
	Generic double x, y vector. More...
class	gazebo::math::Vector2i
	Generic integer x, y vector. More...
class	gazebo::math::Vector3
	The Vector3 class represents the generic vector containing 3 elements. More...
class	gazebo::math::Vector3Stats
	Collection of statistics for a Vector3 signal. More...
class	gazebo::math::Vector4
	double Generic x, y, z, w vector More...

Functions
template<typename T >
T	gazebo::math::clamp (T _v, T _min, T _max)
	Simple clamping function. More...
template<typename T >
bool	gazebo::math::equal (const T &_a, const T &_b, const T &_epsilon=1e-6)
	check if two values are equal, within a tolerance More...
float	gazebo::math::fixnan (float _v)
	Fix a nan value. More...
double	gazebo::math::fixnan (double _v)
	Fix a nan value. More...
bool	gazebo::math::isnan (float _v)
	check if a float is NaN More...
bool	gazebo::math::isnan (double _v)
	check if a double is NaN More...
bool	gazebo::math::isPowerOfTwo (unsigned int _x)
	is this a power of 2? More...
template<typename T >
T	gazebo::math::max (const std::vector< T > &_values)
	get the maximum value of vector of values More...
template<typename T >
T	gazebo::math::mean (const std::vector< T > &_values)
	get mean of vector of values More...
template<typename T >
T	gazebo::math::min (const std::vector< T > &_values)
	get the minimum value of vector of values More...
double	gazebo::math::parseFloat (const std::string &_input)
	parse string into float More...
int	gazebo::math::parseInt (const std::string &_input)
	parse string into an integer More...
template<typename T >
T	gazebo::math::precision (const T &_a, const unsigned int &_precision)
	get value at a specified precision More...
unsigned int	gazebo::math::roundUpPowerOfTwo (unsigned int _x)
	Get the smallest power of two that is greater or equal to a given value. More...
template<typename T >
T	gazebo::math::variance (const std::vector< T > &_values)
	get variance of vector of values More...

Variables
static const double	gazebo::math::NAN_D = std::numeric_limits<double>::quiet_NaN()
	Returns the representation of a quiet not a number (NAN) More...
static const int	gazebo::math::NAN_I = std::numeric_limits<int>::quiet_NaN()
	Returns the representation of a quiet not a number (NAN) More...

Detailed Description

A set of classes that encapsulate math related properties and functions.

Function Documentation

template<typename T >

T gazebo::math::clamp ( T  _v, T  _min, T  _max  )

inline

Simple clamping function.

Parameters

[in]	_v	value
[in]	_min	minimum
[in]	_max	maximum

References gazebo::math::max(), and gazebo::math::min().

template<typename T >

bool gazebo::math::equal ( const T &  _a, const T &  _b, const T &  _epsilon = 1e-6  )

inline

check if two values are equal, within a tolerance

Parameters

[in]	_a	the first value
[in]	_b	the second value
[in]	_epsilon	the tolerance

Referenced by gazebo::math::Quaternion::Correct(), gazebo::math::Quaternion::GetInverse(), gazebo::physics::DARTSphereShape::SetRadius(), gazebo::physics::SimbodySphereShape::SetRadius(), gazebo::physics::BulletSphereShape::SetRadius(), gazebo::physics::SimbodyBoxShape::SetSize(), gazebo::physics::DARTCylinderShape::SetSize(), gazebo::physics::SimbodyCylinderShape::SetSize(), gazebo::physics::DARTBoxShape::SetSize(), gazebo::physics::BulletBoxShape::SetSize(), and gazebo::physics::BulletCylinderShape::SetSize().

float gazebo::math::fixnan ( float  _v )

inline

Fix a nan value.

Parameters

[in]

_v

Value to correct.

Returns

0 if _v is NaN, _v otherwise.

References gazebo::math::isnan().

double gazebo::math::fixnan ( double  _v )

inline

Fix a nan value.

Parameters

[in]

_v

Value to correct.

Returns

0 if _v is NaN, _v otherwise.

References gazebo::math::isnan().

bool gazebo::math::isnan ( float  _v )

inline

check if a float is NaN

Parameters

[in]

_v

the value

Returns

true if _v is not a number, false otherwise

References gazebo::math::isnan().

Referenced by gazebo::math::fixnan().

bool gazebo::math::isnan ( double  _v )

inline

check if a double is NaN

Parameters

[in]

_v

the value

Returns

true if _v is not a number, false otherwise

Referenced by gazebo::math::isnan().

bool gazebo::math::isPowerOfTwo ( unsigned int  _x )

inline

is this a power of 2?

Parameters

[in]

_x

the number

Returns

true if _x is a power of 2, false otherwise

Referenced by gazebo::math::roundUpPowerOfTwo().

template<typename T >

T gazebo::math::max ( const std::vector< T > &  _values )

inline

get the maximum value of vector of values

Parameters

[in]

_values

the vector of values

Returns

maximum

References gazebo::math::min().

Referenced by gazebo::math::clamp(), and gazebo::math::min().

template<typename T >

T gazebo::math::mean ( const std::vector< T > &  _values )

inline

get mean of vector of values

Parameters

[in]

_values

the vector of values

Returns

the mean

template<typename T >

T gazebo::math::min ( const std::vector< T > &  _values )

inline

get the minimum value of vector of values

Parameters

[in]

_values

the vector of values

Returns

minimum

References gazebo::math::max().

Referenced by gazebo::math::clamp(), and gazebo::math::max().

double gazebo::math::parseFloat ( const std::string &  _input )

inline

parse string into float

Parameters

_input

the string

Returns

a floating point number (can be NaN) or 0 with a message in the error stream

References gazebo::math::NAN_D.

int gazebo::math::parseInt ( const std::string &  _input )

inline

parse string into an integer

Parameters

[in]

_input

the string

Returns

an integer, 0 or 0 and a message in the error stream

References gazebo::math::NAN_I.

template<typename T >

T gazebo::math::precision ( const T &  _a, const unsigned int &  _precision  )

inline

get value at a specified precision

Parameters

[in]	_a	the number
[in]	_precision	the precision

Returns

the value for the specified precision

unsigned int gazebo::math::roundUpPowerOfTwo ( unsigned int  _x )

inline

Get the smallest power of two that is greater or equal to a given value.

Parameters

[in]

_x

the number

Returns

the same value if _x is already a power of two. Otherwise, it returns the smallest power of two that is greater than _x

References gazebo::math::isPowerOfTwo().

template<typename T >

T gazebo::math::variance ( const std::vector< T > &  _values )

inline

get variance of vector of values

Parameters

[in]

_values

the vector of values

Returns

the squared deviation

Variable Documentation

const double gazebo::math::NAN_D = std::numeric_limits<double>::quiet_NaN()

static

Returns the representation of a quiet not a number (NAN)

Referenced by gazebo::math::parseFloat().

const int gazebo::math::NAN_I = std::numeric_limits<int>::quiet_NaN()

static

Returns the representation of a quiet not a number (NAN)

Referenced by gazebo::math::parseInt().