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	Angle
	An angle and related functions. More...

class	BiQuad< T >
	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< T >
	Filter base class. More...

class	Kmeans
	K-Means clustering algorithm. More...

class	Matrix3
	A 3x3 matrix class. More...

class	Matrix4
	A 3x3 matrix class. More...

class	OnePole< T >
	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	Pose
	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	SignalStatistic
	Statistical properties of a discrete time scalar signal. More...

class	Spline
	Splines. More...

class	Vector2d
	Generic double x, y vector. More...

class	Vector2i
	Generic integer 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
	double Generic x, y, z, w vector More...

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 int	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

§ clamp()

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().

§ equal()

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 Quaternion::Correct(), Quaternion::GetInverse(), SimbodySphereShape::SetRadius(), BulletSphereShape::SetRadius(), SimbodyBoxShape::SetSize(), SimbodyCylinderShape::SetSize(), BulletBoxShape::SetSize(), and BulletCylinderShape::SetSize().

§ fixnan() [1/2]

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().

§ fixnan() [2/2]

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().

§ isnan() [1/2]

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().

§ isnan() [2/2]

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().

§ isPowerOfTwo()

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().

§ max()

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().

§ mean()

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

§ min()

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().

§ parseFloat()

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.

§ parseInt()

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.

§ precision()

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

§ roundUpPowerOfTwo()

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().

§ variance()

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

§ NAN_D

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

static

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

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

§ NAN_I

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

static

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

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

Files

Namespaces

Classes

Functions

Variables

Detailed Description

Function Documentation

§ clamp()

§ equal()

§ fixnan() [1/2]

§ fixnan() [2/2]

§ isnan() [1/2]

§ isnan() [2/2]

§ isPowerOfTwo()

§ max()

§ mean()

§ min()

§ parseFloat()

§ parseInt()

§ precision()

§ roundUpPowerOfTwo()

§ variance()

Variable Documentation

§ NAN_D

§ NAN_I