ignition::math Namespace Reference

Math classes and function useful in robot applications. More...

Classes
class	AffineException
	ignition/math/AffineException.hh More...
class	Angle
	An angle and related functions. More...
class	BiQuad
	Bi-quad filter base class. More...
class	BiQuadVector3
	BiQuad vector3 filter. More...
class	Box
	Mathematical representation of a box and related functions. More...
class	Filter
	Filter base class. More...
class	IndexException
	Exception that is thrown when an out-of-bounds index is encountered. More...
class	Kmeans
	K-Means clustering algorithm. More...
class	Line2
	A two dimensional line segment. More...
class	Matrix3
	A 3x3 matrix class. More...
class	Matrix4
	A 4x4 matrix class. More...
class	OnePole
	A one-pole DSP filter. More...
class	OnePoleQuaternion
	One-pole quaternion filter. More...
class	OnePoleVector3
	One-pole vector3 filter. More...
class	Plane
	A plane and related functions. More...
class	Pose3
	Encapsulates a position and rotation in three space. More...
class	Quaternion
	A quaternion class. More...
class	Rand
	Random number generator class. More...
class	RotationSpline
	Spline for rotations. More...
class	Spline
	Splines. More...
class	Triangle
	Triangle class and related functions. More...
class	Vector2
	Two dimensional (x, y) vector. More...
class	Vector3
	The Vector3 class represents the generic vector containing 3 elements. More...
class	Vector4
	T Generic x, y, z, w vector. More...

Typedefs
typedef std::mt19937	GeneratorType
typedef Line2< double >	Line2d
typedef Line2< float >	Line2f
typedef Line2< int >	Line2i
typedef Matrix3< double >	Matrix3d
typedef Matrix3< float >	Matrix3f
typedef Matrix3< int >	Matrix3i
typedef Matrix4< double >	Matrix4d
typedef Matrix4< float >	Matrix4f
typedef Matrix4< int >	Matrix4i
typedef std::normal_distribution < double >	NormalRealDist
typedef Plane< double >	Planed
typedef Plane< float >	Planef
typedef Plane< int >	Planei
typedef Pose3< double >	Pose3d
typedef Pose3< float >	Pose3f
typedef Pose3< int >	Pose3i
typedef Quaternion< double >	Quaterniond
typedef Quaternion< float >	Quaternionf
typedef Quaternion< int >	Quaternioni
typedef Triangle< double >	Triangled
	Double specialization of the Triangle class. More...
typedef Triangle< float >	Trianglef
	Float specialization of the Triangle class. More...
typedef Triangle< int >	Trianglei
	Integer specialization of the Triangle class. More...
typedef std::uniform_int_distribution < int32_t >	UniformIntDist
typedef std::uniform_real_distribution < double >	UniformRealDist
typedef Vector2< double >	Vector2d
typedef Vector2< float >	Vector2f
typedef Vector2< int >	Vector2i
typedef Vector3< double >	Vector3d
typedef Vector3< float >	Vector3f
typedef Vector3< int >	Vector3i
typedef Vector4< double >	Vector4d
typedef Vector4< float >	Vector4f
typedef Vector4< int >	Vector4i

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

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

Detailed Description

Math classes and function useful in robot applications.

Typedef Documentation

typedef std::mt19937 ignition::math::GeneratorType

typedef Line2<double> ignition::math::Line2d

typedef Line2<float> ignition::math::Line2f

typedef Line2<int> ignition::math::Line2i

typedef Matrix3<double> ignition::math::Matrix3d

typedef Matrix3<float> ignition::math::Matrix3f

typedef Matrix3<int> ignition::math::Matrix3i

typedef Matrix4<double> ignition::math::Matrix4d

typedef Matrix4<float> ignition::math::Matrix4f

typedef Matrix4<int> ignition::math::Matrix4i

typedef std::normal_distribution<double> ignition::math::NormalRealDist

typedef Plane<double> ignition::math::Planed

typedef Plane<float> ignition::math::Planef

typedef Plane<int> ignition::math::Planei

typedef Pose3<double> ignition::math::Pose3d

typedef Pose3<float> ignition::math::Pose3f

typedef Pose3<int> ignition::math::Pose3i

typedef Quaternion<double> ignition::math::Quaterniond

typedef Quaternion<float> ignition::math::Quaternionf

typedef Quaternion<int> ignition::math::Quaternioni

typedef Triangle<double> ignition::math::Triangled

Double specialization of the Triangle class.

typedef Triangle<float> ignition::math::Trianglef

Float specialization of the Triangle class.

typedef Triangle<int> ignition::math::Trianglei

Integer specialization of the Triangle class.

typedef std::uniform_int_distribution<int32_t> ignition::math::UniformIntDist

typedef std::uniform_real_distribution<double> ignition::math::UniformRealDist

typedef Vector2<double> ignition::math::Vector2d

typedef Vector2<float> ignition::math::Vector2f

typedef Vector2<int> ignition::math::Vector2i

typedef Vector3<double> ignition::math::Vector3d

typedef Vector3<float> ignition::math::Vector3f

typedef Vector3<int> ignition::math::Vector3i

typedef Vector4<double> ignition::math::Vector4d

typedef Vector4<float> ignition::math::Vector4f

typedef Vector4<int> ignition::math::Vector4i

Function Documentation

template<typename T >

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

inline

Simple clamping function.

Parameters

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

References max(), and min().

template<typename T >

bool ignition::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 ignition::math::Line2< T >::Collinear(), ignition::math::Quaternion< T >::Correct(), ignition::math::Line2< T >::Intersect(), ignition::math::Matrix4< double >::IsAffine(), ignition::math::Quaternion< T >::operator!=(), ignition::math::Vector2< T >::operator==(), ignition::math::Matrix3< T >::operator==(), ignition::math::Vector4< T >::operator==(), ignition::math::Quaternion< T >::operator==(), ignition::math::Matrix4< double >::operator==(), ignition::math::Line2< T >::Parallel(), and ignition::math::Line2< T >::Slope().

float ignition::math::fixnan ( float  _v )

inline

Fix a nan value.

Parameters

[in]

_v

Value to correct.

Returns

0 if _v is NaN, _v otherwise.

References isnan().

double ignition::math::fixnan ( double  _v )

inline

Fix a nan value.

Parameters

[in]

_v

Value to correct.

Returns

0 if _v is NaN, _v otherwise.

References isnan().

bool ignition::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 isnan().

Referenced by fixnan().

bool ignition::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 isnan().

bool ignition::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 roundUpPowerOfTwo().

template<typename T >

T ignition::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 min().

Referenced by clamp(), ignition::math::Line2< T >::Intersect(), ignition::math::Box::Max(), ignition::math::Vector3< double >::Max(), min(), and ignition::math::Line2< T >::Within().

template<typename T >

T ignition::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 ignition::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 max().

Referenced by clamp(), ignition::math::Line2< T >::Intersect(), max(), ignition::math::Box::Min(), ignition::math::Vector3< double >::Min(), and ignition::math::Line2< T >::Within().

double ignition::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 NAN_D.

int ignition::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 NAN_I.

template<typename T >

T ignition::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

Referenced by ignition::math::Vector3< double >::Round(), and ignition::math::Quaternion< T >::Round().

unsigned int ignition::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 isPowerOfTwo().

template<typename T >

T ignition::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 ignition::math::NAN_D = std::numeric_limits<double>::quiet_NaN()

static

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

Referenced by parseFloat(), and ignition::math::Line2< T >::Slope().

const float ignition::math::NAN_F = std::numeric_limits<float>::quiet_NaN()

static

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

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

static

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

Referenced by parseInt().