ignition::math Namespace Reference

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

Namespaces
namespace	graph
namespace	IGNITION_MATH_VERSION_NAMESPACE

Classes
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	Color
	Defines a color using a red (R), green (G), blue (B), and alpha (A) component. More...
class	Filter
	Filter base class. More...
class	Frustum
	Mathematical representation of a frustum and related functions. More...
class	Inertial
	A class for inertial information about a rigid body consisting of the scalar mass, a 3x3 symmetric moment of inertia matrix, and center of mass reference frame pose. More...
class	Kmeans
	K-Means clustering algorithm. More...
class	Line2
	A two dimensional line segment. More...
class	Line3
	A three dimensional line segment. More...
class	MassMatrix3
	A class for inertial information about a rigid body consisting of the scalar mass and a 3x3 symmetric moment of inertia matrix stored as two Vector3's. 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	OrientedBox
	Mathematical representation of a box which can be arbitrarily positioned and rotated. More...
class	PID
	Generic PID controller class. 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	SemanticVersion
	ignition/math/SemanticVersion.hh More...
class	SignalMaxAbsoluteValue
	ignition/math/SignalStats.hh More...
class	SignalMaximum
	Computing the maximum value of a discretely sampled signal. More...
class	SignalMean
	Computing the mean value of a discretely sampled signal. More...
class	SignalMinimum
	Computing the minimum value of a discretely sampled signal. More...
class	SignalRootMeanSquare
	Computing the square root of the mean squared value of a discretely sampled signal. More...
class	SignalStatistic
	Statistical properties of a discrete time scalar signal. More...
class	SignalStats
	Collection of statistics for a scalar signal. More...
class	SignalVariance
	Computing the incremental variance of a discretely sampled signal. More...
class	SphericalCoordinates
	Convert spherical coordinates for planetary surfaces. More...
class	Spline
	Splines. More...
class	Temperature
	A class that stores temperature information, and allows conversion between different units. More...
class	Triangle
	Triangle class and related functions. More...
class	Triangle3
	A 3-dimensional triangle 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	Vector3Stats
	Collection of statistics for a Vector3 signal. More...
class	Vector4
	T Generic x, y, z, w vector. More...

Typedefs
typedef std::mt19937	GeneratorType
typedef Inertial< double >	Inertiald
typedef Inertial< float >	Inertialf
typedef Line2< double >	Line2d
typedef Line2< float >	Line2f
typedef Line2< int >	Line2i
typedef Line3< double >	Line3d
typedef Line3< float >	Line3f
typedef Line3< int >	Line3i
typedef MassMatrix3< double >	MassMatrix3d
typedef MassMatrix3< float >	MassMatrix3f
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 OrientedBox< double >	OrientedBoxd
typedef OrientedBox< float >	OrientedBoxf
typedef OrientedBox< int >	OrientedBoxi
using	PairInput = uint32_t
using	PairOutput = uint64_t
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 Triangle3< double >	Triangle3d
	Double specialization of the Triangle class.
typedef Triangle3< float >	Triangle3f
	Float specialization of the Triangle class.
typedef Triangle3< int >	Triangle3i
	Integer specialization of the Triangle class.
typedef Triangle< double >	Triangled
	Double specialization of the Triangle class.
typedef Triangle< float >	Trianglef
	Float specialization of the Triangle class.
typedef Triangle< int >	Trianglei
	Integer specialization of the Triangle class.
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.
template<typename T>
bool	equal (const T &_a, const T &_b, const T &_epsilon=T(1e-6))
	check if two values are equal, within a tolerance
double	fixnan (double _v)
	Fix a nan value.
float	fixnan (float _v)
	Fix a nan value.
template<typename T>
bool	greaterOrNearEqual (const T &_a, const T &_b, const T &_epsilon=1e-6)
	inequality test, within a tolerance
static const double	IGN_DEPRECATED (3) DPRCT_MAX_D = MIN_D
bool	isEven (const int _v)
	Check if parameter is even.
bool	isEven (const unsigned int _v)
	Check if parameter is even.
bool	isnan (double _v)
	check if a double is NaN
bool	isnan (float _v)
	check if a float is NaN
bool	isOdd (const int _v)
	Check if parameter is odd.
bool	isOdd (const unsigned int _v)
	Check if parameter is odd.
bool	isPowerOfTwo (unsigned int _x)
	Is this a power of 2?
template<typename T>
bool	lessOrNearEqual (const T &_a, const T &_b, const T &_epsilon=1e-6)
	inequality test, within a tolerance
template<typename T>
T	max (const std::vector< T > &_values)
	get the maximum value of vector of values
template<typename T>
T	mean (const std::vector< T > &_values)
	get mean of vector of values
template<typename T>
T	min (const std::vector< T > &_values)
	get the minimum value of vector of values
PairOutput IGNITION_MATH_VISIBLE	Pair (const PairInput _a, const PairInput _b)
	A pairing function that maps two values to a unique third value.
double	parseFloat (const std::string &_input)
	parse string into float
int	parseInt (const std::string &_input)
	parse string into an integer
template<typename T>
T	precision (const T &_a, const unsigned int &_precision)
	get value at a specified precision
unsigned int	roundUpPowerOfTwo (unsigned int _x)
	Get the smallest power of two that is greater or equal to a given value.
template<typename T>
int	sgn (T _value)
	The signum function.
template<typename T>
int	signum (T _value)
	The signum function.
template<typename T>
void	sort2 (T &_a, T &_b)
	Sort two numbers, such that _a <= _b.
template<typename T>
void	sort3 (T &_a, T &_b, T &_c)
	Sort three numbers, such that _a <= _b <= _c.
std::tuple< PairInput, PairInput > IGNITION_MATH_VISIBLE	Unpair (const PairOutput _key)
	The reverse of the Pair function.
template<typename T>
T	variance (const std::vector< T > &_values)
	get variance of vector of values

Variables
static const size_t	IGN_EIGHT_SIZE_T = 8u
	size_t type with a value of 8
static const size_t	IGN_FIVE_SIZE_T = 5u
	size_t type with a value of 5
static const size_t	IGN_FOUR_SIZE_T = 4u
	size_t type with a value of 4
static const size_t	IGN_NINE_SIZE_T = 9u
	size_t type with a value of 9
static const size_t	IGN_ONE_SIZE_T = 1u
	size_t type with a value of 1
static const size_t	IGN_SEVEN_SIZE_T = 7u
	size_t type with a value of 7
static const size_t	IGN_SIX_SIZE_T = 6u
	size_t type with a value of 6
static const size_t	IGN_THREE_SIZE_T = 3u
	size_t type with a value of 3
static const size_t	IGN_TWO_SIZE_T = 2u
	size_t type with a value of 2
static const size_t	IGN_ZERO_SIZE_T = 0u
	size_t type with a value of 0
static const double	INF_D = std::numeric_limits<double>::infinity()
	Double positive infinite value.
static const float	INF_F = std::numeric_limits<float>::infinity()
	float positive infinite value
static const int16_t	INF_I16 = std::numeric_limits<int16_t>::infinity()
	16-bit unsigned integer positive infinite value
static const int32_t	INF_I32 = std::numeric_limits<int32_t>::infinity()
	32-bit unsigned integer positive infinite value
static const int64_t	INF_I64 = std::numeric_limits<int64_t>::infinity()
	64-bit unsigned integer positive infinite value
static const uint16_t	INF_UI16 = std::numeric_limits<uint16_t>::infinity()
	16-bit unsigned integer positive infinite value
static const uint32_t	INF_UI32 = std::numeric_limits<uint32_t>::infinity()
	32-bit unsigned integer positive infinite value
static const uint64_t	INF_UI64 = std::numeric_limits<uint64_t>::infinity()
	64-bit unsigned integer positive infinite value
static const double	LOW_D = std::numeric_limits<double>::lowest()
	Double low value, equivalent to -MAX_D.
static const float	LOW_F = std::numeric_limits<float>::lowest()
	Float low value, equivalent to -MAX_F.
static const int16_t	LOW_I16 = std::numeric_limits<int16_t>::lowest()
	16bit unsigned integer lowest value.
static const int32_t	LOW_I32 = std::numeric_limits<int32_t>::lowest()
	32bit unsigned integer lowest value.
static const int64_t	LOW_I64 = std::numeric_limits<int64_t>::lowest()
	64bit unsigned integer lowest value.
static const uint16_t	LOW_UI16 = std::numeric_limits<uint16_t>::lowest()
	16bit unsigned integer lowest value.
static const uint32_t	LOW_UI32 = std::numeric_limits<uint32_t>::lowest()
	32bit unsigned integer lowest value.
static const uint64_t	LOW_UI64 = std::numeric_limits<uint64_t>::lowest()
	64bit unsigned integer lowest value.
template<typename T>
const Matrix3< T >	Matrix3< T >::Identity (1, 0, 0, 0, 1, 0, 0, 0, 1)
template<typename T>
const Matrix3< T >	Matrix3< T >::Zero (0, 0, 0, 0, 0, 0, 0, 0, 0)
template<typename T>
const Matrix4< T >	Matrix4< T >::Identity (1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1)
template<typename T>
const Matrix4< T >	Matrix4< T >::Zero (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
static const double	MAX_D = std::numeric_limits<double>::max()
	Double maximum value. This value will be similar to 1.79769e+308.
static const float	MAX_F = std::numeric_limits<float>::max()
	Float maximum value. This value will be similar to 3.40282e+38.
static const int16_t	MAX_I16 = std::numeric_limits<int16_t>::max()
	16bit unsigned integer maximum value
static const int32_t	MAX_I32 = std::numeric_limits<int32_t>::max()
	32bit unsigned integer maximum value
static const int64_t	MAX_I64 = std::numeric_limits<int64_t>::max()
	64bit unsigned integer maximum value
static const uint16_t	MAX_UI16 = std::numeric_limits<uint16_t>::max()
	16bit unsigned integer maximum value
static const uint32_t	MAX_UI32 = std::numeric_limits<uint32_t>::max()
	32bit unsigned integer maximum value
static const uint64_t	MAX_UI64 = std::numeric_limits<uint64_t>::max()
	64bit unsigned integer maximum value
static const double	MIN_D = std::numeric_limits<double>::min()
	Double min value. This value will be similar to 2.22507e-308.
static const float	MIN_F = std::numeric_limits<float>::min()
	Float minimum value. This value will be similar to 1.17549e-38.
static const int16_t	MIN_I16 = std::numeric_limits<int16_t>::min()
	16bit unsigned integer minimum value
static const int32_t	MIN_I32 = std::numeric_limits<int32_t>::min()
	32bit unsigned integer minimum value
static const int64_t	MIN_I64 = std::numeric_limits<int64_t>::min()
	64bit unsigned integer minimum value
static const uint16_t	MIN_UI16 = std::numeric_limits<uint16_t>::min()
	16bit unsigned integer minimum value
static const uint32_t	MIN_UI32 = std::numeric_limits<uint32_t>::min()
	32bit unsigned integer minimum value
static const uint64_t	MIN_UI64 = std::numeric_limits<uint64_t>::min()
	64bit unsigned integer minimum value
static const double	NAN_D = std::numeric_limits<double>::quiet_NaN()
	Returns the representation of a quiet not a number (NAN)
static const float	NAN_F = std::numeric_limits<float>::quiet_NaN()
	Returns the representation of a quiet not a number (NAN)
static const int	NAN_I = std::numeric_limits<int>::quiet_NaN()
	Returns the representation of a quiet not a number (NAN)
template<typename T>
const Pose3< T >	Pose3< T >::Zero (0, 0, 0, 0, 0, 0)
template<typename T>
const Quaternion< T >	Quaternion< T >::Identity (1, 0, 0, 0)
template<typename T>
const Quaternion< T >	Quaternion< T >::Zero (0, 0, 0, 0)
template<typename T>
const Vector2< T >	Vector2< T >::One (1, 1)
template<typename T>
const Vector2< T >	Vector2< T >::Zero (0, 0)
template<typename T>
const Vector3< T >	Vector3< T >::One (1, 1, 1)
template<typename T>
const Vector3< T >	Vector3< T >::UnitX (1, 0, 0)
template<typename T>
const Vector3< T >	Vector3< T >::UnitY (0, 1, 0)
template<typename T>
const Vector3< T >	Vector3< T >::UnitZ (0, 0, 1)
template<typename T>
const Vector3< T >	Vector3< T >::Zero (0, 0, 0)
template<typename T>
const Vector4< T >	Vector4< T >::One (1, 1, 1, 1)
template<typename T>
const Vector4< T >	Vector4< T >::Zero (0, 0, 0, 0)

Detailed Description

Math classes and function useful in robot applications.