#include <cmath>
#include <algorithm>
#include <limits>
#include <string>
#include <iostream>
#include <vector>

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Namespaces
	ignition

	ignition::math
	Math classes and function useful in robot applications.

Macros
#define	_USE_MATH_DEFINES

#define	IGN_BOX_VOLUME(_x, _y, _z) (_x _y _z)
	Compute box volume. More...

#define	IGN_BOX_VOLUME_V(_v) (_v.X() _v.Y() _v.Z())
	Compute box volume from a vector. More...

#define	IGN_CYLINDER_VOLUME(_r, _l) (_l * IGN_PI * std::pow(_r, 2))
	Compute cylinder volume. More...

#define	IGN_DBL_INF std::numeric_limits<double>::infinity()
	Double positive infinite value. More...

#define	IGN_DBL_LOW std::numeric_limits<double>::lowest()
	Double low value, equivalent to -IGN_DBL_MAX. More...

#define	IGN_DBL_MAX std::numeric_limits<double>::max()
	Double maximum value. This value will be similar to 1.79769e+308. More...

#define	IGN_DBL_MIN std::numeric_limits<double>::min()
	Double min value. This value will be similar to 2.22507e-308. More...

#define	IGN_FLT_LOW std::numeric_limits<float>::lowest()
	Float lowest value, equivalent to -IGN_FLT_MAX. More...

#define	IGN_FLT_MAX std::numeric_limits<float>::max()
	Float maximum value. This value will be similar to 3.40282e+38. More...

#define	IGN_FLT_MIN std::numeric_limits<float>::min()
	Float minimum value. This value will be similar to 1.17549e-38. More...

#define	IGN_FP_VOLATILE
	Define IGN_FP_VOLATILE for FP equality comparisons Use volatile parameters when checking floating point equality on the 387 math coprocessor to work around bugs from the 387 extra precision. More...

#define	IGN_INT32_LOW std::numeric_limits<int32_t>::lowest()
	32bit integer minimum value. More...

#define	IGN_INT32_MAX std::numeric_limits<int32_t>::max()
	32bit integer maximum value More...

#define	IGN_INT32_MIN std::numeric_limits<int32_t>::min()
	32bit integer minimum value More...

#define	IGN_PI 3.14159265358979323846
	Define IGN_PI, IGN_PI_2, and IGN_PI_4. More...

#define	IGN_PI_2 1.57079632679489661923

#define	IGN_PI_4 0.78539816339744830962

#define	IGN_SPHERE_VOLUME(_radius) (4.0IGN_PIstd::pow(_radius, 3)/3.0)
	Compute sphere volume. More...

#define	IGN_UINT32_LOW std::numeric_limits<uint32_t>::lowest()
	32bit unsigned integer lowest value. More...

#define	IGN_UINT32_MAX std::numeric_limits<uint32_t>::max()
	32bit unsigned integer maximum value More...

#define	IGN_UINT32_MIN std::numeric_limits<uint32_t>::min()
	32bit unsigned integer minimum value More...

#define	IGNITION_HIDDEN
	Use to represent "symbol hidden" if supported. More...

#define	IGNITION_VISIBLE
	Use to represent "symbol visible" if supported. More...

Functions
template<typename T >
T	ignition::math::clamp (T _v, T _min, T _max)
	Simple clamping function. More...

template<typename T >
bool	ignition::math::equal (const T &_a, const T &_b, const T &_epsilon=1e-6)
	check if two values are equal, within a tolerance More...

float	ignition::math::fixnan (float _v)
	Fix a nan value. More...

double	ignition::math::fixnan (double _v)
	Fix a nan value. More...

bool	ignition::math::isEven (const int _v)
	Check if parameter is even. More...

bool	ignition::math::isEven (const unsigned int _v)
	Check if parameter is even. More...

bool	ignition::math::isnan (float _v)
	check if a float is NaN More...

bool	ignition::math::isnan (double _v)
	check if a double is NaN More...

bool	ignition::math::isOdd (const int _v)
	Check if parameter is odd. More...

bool	ignition::math::isOdd (const unsigned int _v)
	Check if parameter is odd. More...

bool	ignition::math::isPowerOfTwo (unsigned int _x)
	Is this a power of 2? More...

template<typename T >
T	ignition::math::max (const std::vector< T > &_values)
	get the maximum value of vector of values More...

template<typename T >
T	ignition::math::mean (const std::vector< T > &_values)
	get mean of vector of values More...

template<typename T >
T	ignition::math::min (const std::vector< T > &_values)
	get the minimum value of vector of values More...

double	ignition::math::parseFloat (const std::string &_input)
	parse string into float More...

int	ignition::math::parseInt (const std::string &_input)
	parse string into an integer More...

template<typename T >
T	ignition::math::precision (const T &_a, const unsigned int &_precision)
	get value at a specified precision More...

unsigned int	ignition::math::roundUpPowerOfTwo (unsigned int _x)
	Get the smallest power of two that is greater or equal to a given value. More...

template<typename T >
void	ignition::math::sort2 (T &_a, T &_b)
	Sort two numbers, such that _a <= _b. More...

template<typename T >
void	ignition::math::sort3 (T &_a, T &_b, T &_c)
	Sort three numbers, such that _a <= _b <= _c. More...

template<typename T >
T	ignition::math::variance (const std::vector< T > &_values)
	get variance of vector of values More...

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

static const float	ignition::math::NAN_F = std::numeric_limits<float>::quiet_NaN()
	Returns the representation of a quiet not a number (NAN) More...

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

Macro Definition Documentation

#define _USE_MATH_DEFINES

#define IGN_BOX_VOLUME	(	_x,
		_y,
		_z
	)	(_x _y _z)

Compute box volume.

Parameters

[in]	_x	X length
[in]	_y	Y length
[in]	_z	Z length

#define IGN_BOX_VOLUME_V ( _v ) (_v.X() *_v.Y() * _v.Z())

Compute box volume from a vector.

Parameters

[in] _v Vector3d that contains the box's dimensions.

#define IGN_CYLINDER_VOLUME	(	_r,
		_l
	)	(_l * IGN_PI * std::pow(_r, 2))

Compute cylinder volume.

Parameters

[in]	_r	Cylinder base radius
[in]	_l	Cylinder length

#define IGN_DBL_INF std::numeric_limits<double>::infinity()

Double positive infinite value.

#define IGN_DBL_LOW std::numeric_limits<double>::lowest()

Double low value, equivalent to -IGN_DBL_MAX.

#define IGN_DBL_MAX std::numeric_limits<double>::max()

Double maximum value. This value will be similar to 1.79769e+308.

#define IGN_DBL_MIN std::numeric_limits<double>::min()

Double min value. This value will be similar to 2.22507e-308.

Referenced by ignition::math::Quaternion< double >::Integrate().

#define IGN_FLT_LOW std::numeric_limits<float>::lowest()

Float lowest value, equivalent to -IGN_FLT_MAX.

#define IGN_FLT_MAX std::numeric_limits<float>::max()

Float maximum value. This value will be similar to 3.40282e+38.

#define IGN_FLT_MIN std::numeric_limits<float>::min()

Float minimum value. This value will be similar to 1.17549e-38.

#define IGN_FP_VOLATILE

Define IGN_FP_VOLATILE for FP equality comparisons Use volatile parameters when checking floating point equality on the 387 math coprocessor to work around bugs from the 387 extra precision.

Referenced by ignition::math::equal().

#define IGN_INT32_LOW std::numeric_limits<int32_t>::lowest()

32bit integer minimum value.

This is equivalent to IGN_INT32_MIN, and is defined here for completeness.

#define IGN_INT32_MAX std::numeric_limits<int32_t>::max()

32bit integer maximum value

#define IGN_INT32_MIN std::numeric_limits<int32_t>::min()

32bit integer minimum value

#define IGN_PI 3.14159265358979323846

Define IGN_PI, IGN_PI_2, and IGN_PI_4.

This was put here for Windows support.

Referenced by ignition::math::Quaternion< double >::Euler(), ignition::math::Matrix4< double >::EulerRotation(), ignition::math::OnePole< math::Quaterniond >::Fc(), and ignition::math::BiQuad< math::Vector3d >::Fc().

#define IGN_PI_2 1.57079632679489661923

#define IGN_PI_4 0.78539816339744830962

#define IGN_SPHERE_VOLUME ( _radius ) (4.0*IGN_PI*std::pow(_radius, 3)/3.0)

Compute sphere volume.

Parameters

[in] _radius Sphere radius

#define IGN_UINT32_LOW std::numeric_limits<uint32_t>::lowest()

32bit unsigned integer lowest value.

This is equivalent to IGN_UINT32_MIN, and is defined here for completeness.

#define IGN_UINT32_MAX std::numeric_limits<uint32_t>::max()

32bit unsigned integer maximum value

#define IGN_UINT32_MIN std::numeric_limits<uint32_t>::min()

32bit unsigned integer minimum value

#define IGNITION_HIDDEN

Use to represent "symbol hidden" if supported.

#define IGNITION_VISIBLE

Use to represent "symbol visible" if supported.

Namespaces

Macros

Functions

Variables

Macro Definition Documentation