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

Namespaces
	graph

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. Each color component is in the range [0..1]. More...

class	Filter
	Filter base class. More...

class	Frustum
	Mathematical representation of a frustum and related functions. This is also known as a view frustum. 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. Given a set of observations, k-means partitions the observations into k sets so as to minimize the within-cluster sum of squares. Description based on http://en.wikipedia.org/wiki/K-means_clustering. More...

class	Line2
	A two dimensional line segment. The line is defined by a start and end point. More...

class	Line3
	A three dimensional line segment. The line is defined by a start and end point. 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	MovingWindowFilter
	Base class for MovingWindowFilter. This replaces the version of MovingWindowFilter in the Ignition Common library. 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. Generic proportional-integral-derivative controller class that keeps track of PID-error states and control inputs given the state of a system and a user specified target state. It includes a user-adjustable command offset term (feed-forward). 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
	Version comparison class based on Semantic Versioning 2.0.0 http://semver.org/ Compares versions and converts versions from string. More...

class	SignalMaxAbsoluteValue
	Computing the maximum of the absolute value of a discretely sampled signal. Also known as the maximum norm, infinity norm, or supremum norm. 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. Since it's commonly used to keep coordinate system related information, its elements are labeled by x, y, z. 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. More...

typedef Triangle3< float >	Triangle3f
	Float specialization of the Triangle class. More...

typedef Triangle3< int >	Triangle3i
	Integer specialization of the Triangle class. More...

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 >
static const static double const static double const static double const static double const static float const static float const static float const static float const static uint16_t const static uint16_t const static uint16_t const static uint16_t const static int16_t const static int16_t const static int16_t const static int16_t const static uint32_t const static uint32_t const static uint32_t const static uint32_t const static int32_t const static int32_t const static int32_t const static int32_t const static uint64_t const static uint64_t const static uint64_t const static uint64_t const static int64_t const static int64_t const static int64_t const int64_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=T(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...

template<typename T >
bool	greaterOrNearEqual (const T &_a, const T &_b, const T &_epsilon=1e-6)
	inequality test, within a tolerance More...

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

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

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

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

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

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

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

template<typename T >
bool	lessOrNearEqual (const T &_a, const T &_b, const T &_epsilon=1e-6)
	inequality test, within a tolerance 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...

PairOutput	Pair (const PairInput _a, const PairInput _b)
	A pairing function that maps two values to a unique third value. This is an implement of Szudzik's function. 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 >
int	sgn (T _value)
	The signum function. More...

template<typename T >
int	signum (T _value)
	The signum function. More...

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

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

std::tuple< PairInput, PairInput >	Unpair (const PairOutput _key)
	The reverse of the Pair function. Accepts a key, produced from the Pair function, and returns a tuple consisting of the two non-negative integer values used to create the _key. More...

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

Variables
static const size_t	IGN_EIGHT_SIZE_T = 8u
	size_t type with a value of 8 More...

static const size_t	IGN_FIVE_SIZE_T = 5u
	size_t type with a value of 5 More...

static const size_t	IGN_FOUR_SIZE_T = 4u
	size_t type with a value of 4 More...

static const size_t	IGN_NINE_SIZE_T = 9u
	size_t type with a value of 9 More...

static const size_t	IGN_ONE_SIZE_T = 1u
	size_t type with a value of 1 More...

static const size_t	IGN_SEVEN_SIZE_T = 7u
	size_t type with a value of 7 More...

static const size_t	IGN_SIX_SIZE_T = 6u
	size_t type with a value of 6 More...

static const size_t	IGN_THREE_SIZE_T = 3u
	size_t type with a value of 3 More...

static const size_t	IGN_TWO_SIZE_T = 2u
	size_t type with a value of 2 More...

static const size_t	IGN_ZERO_SIZE_T = 0u
	size_t type with a value of 0 More...

static const double	INF_D = std::numeric_limits<double>::infinity()
	Double positive infinite value. More...

static const float	INF_F = std::numeric_limits<float>::infinity()
	float positive infinite value More...

static const int16_t	INF_I16 = std::numeric_limits<int16_t>::infinity()
	16-bit unsigned integer positive infinite value More...

static const int32_t	INF_I32 = std::numeric_limits<int32_t>::infinity()
	32-bit unsigned integer positive infinite value More...

static const int64_t	INF_I64 = std::numeric_limits<int64_t>::infinity()
	64-bit unsigned integer positive infinite value More...

static const uint16_t	INF_UI16 = std::numeric_limits<uint16_t>::infinity()
	16-bit unsigned integer positive infinite value More...

static const uint32_t	INF_UI32 = std::numeric_limits<uint32_t>::infinity()
	32-bit unsigned integer positive infinite value More...

static const uint64_t	INF_UI64 = std::numeric_limits<uint64_t>::infinity()
	64-bit unsigned integer positive infinite value More...

static const double	LOW_D = std::numeric_limits<double>::lowest()
	Double low value, equivalent to -MAX_D. More...

static const float	LOW_F = std::numeric_limits<float>::lowest()
	Float low value, equivalent to -MAX_F. More...

static const int16_t	LOW_I16 = std::numeric_limits<int16_t>::lowest()
	16bit unsigned integer lowest value. This is equivalent to IGN_INT16_MIN, and is defined here for completeness. More...

static const int32_t	LOW_I32 = std::numeric_limits<int32_t>::lowest()
	32bit unsigned integer lowest value. This is equivalent to IGN_INT32_MIN, and is defined here for completeness. More...

static const int64_t	LOW_I64 = std::numeric_limits<int64_t>::lowest()
	64bit unsigned integer lowest value. This is equivalent to IGN_INT64_MIN, and is defined here for completeness. More...

static const uint16_t	LOW_UI16 = std::numeric_limits<uint16_t>::lowest()
	16bit unsigned integer lowest value. This is equivalent to IGN_UINT16_MIN, and is defined here for completeness. More...

static const uint32_t	LOW_UI32 = std::numeric_limits<uint32_t>::lowest()
	32bit unsigned integer lowest value. This is equivalent to IGN_UINT32_MIN, and is defined here for completeness. More...

static const uint64_t	LOW_UI64 = std::numeric_limits<uint64_t>::lowest()
	64bit unsigned integer lowest value. This is equivalent to IGN_UINT64_MIN, and is defined here for completeness. More...

static const double	MAX_D = std::numeric_limits<double>::max()
	Double maximum value. This value will be similar to 1.79769e+308. More...

static const float	MAX_F = std::numeric_limits<float>::max()
	Float maximum value. This value will be similar to 3.40282e+38. More...

static const int16_t	MAX_I16 = std::numeric_limits<int16_t>::max()
	16bit unsigned integer maximum value More...

static const int32_t	MAX_I32 = std::numeric_limits<int32_t>::max()
	32bit unsigned integer maximum value More...

static const int64_t	MAX_I64 = std::numeric_limits<int64_t>::max()
	64bit unsigned integer maximum value More...

static const uint16_t	MAX_UI16 = std::numeric_limits<uint16_t>::max()
	16bit unsigned integer maximum value More...

static const uint32_t	MAX_UI32 = std::numeric_limits<uint32_t>::max()
	32bit unsigned integer maximum value More...

static const uint64_t	MAX_UI64 = std::numeric_limits<uint64_t>::max()
	64bit unsigned integer maximum value More...

static const double	MIN_D = std::numeric_limits<double>::min()
	Double min value. This value will be similar to 2.22507e-308. More...

static const float	MIN_F = std::numeric_limits<float>::min()
	Float minimum value. This value will be similar to 1.17549e-38. More...

static const int16_t	MIN_I16 = std::numeric_limits<int16_t>::min()
	16bit unsigned integer minimum value More...

static const int32_t	MIN_I32 = std::numeric_limits<int32_t>::min()
	32bit unsigned integer minimum value More...

static const int64_t	MIN_I64 = std::numeric_limits<int64_t>::min()
	64bit unsigned integer minimum value More...

static const uint16_t	MIN_UI16 = std::numeric_limits<uint16_t>::min()
	16bit unsigned integer minimum value More...

static const uint32_t	MIN_UI32 = std::numeric_limits<uint32_t>::min()
	32bit unsigned integer minimum value More...

static const uint64_t	MIN_UI64 = std::numeric_limits<uint64_t>::min()
	64bit unsigned integer minimum value More...

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

◆ GeneratorType

typedef std::mt19937 GeneratorType

◆ Inertiald

typedef Inertial<double> Inertiald

◆ Inertialf

typedef Inertial<float> Inertialf

◆ Line2d

typedef Line2<double> Line2d

◆ Line2f

typedef Line2<float> Line2f

◆ Line2i

typedef Line2<int> Line2i

◆ Line3d

typedef Line3<double> Line3d

◆ Line3f

typedef Line3<float> Line3f

◆ Line3i

typedef Line3<int> Line3i

◆ MassMatrix3d

typedef MassMatrix3<double> MassMatrix3d

◆ MassMatrix3f

typedef MassMatrix3<float> MassMatrix3f

◆ Matrix3d

typedef Matrix3<double> Matrix3d

◆ Matrix3f

typedef Matrix3<float> Matrix3f

◆ Matrix3i

typedef Matrix3<int> Matrix3i

◆ Matrix4d

typedef Matrix4<double> Matrix4d

◆ Matrix4f

typedef Matrix4<float> Matrix4f

◆ Matrix4i

typedef Matrix4<int> Matrix4i

◆ NormalRealDist

typedef std::normal_distribution<double> NormalRealDist

◆ OrientedBoxd

typedef OrientedBox<double> OrientedBoxd

◆ OrientedBoxf

typedef OrientedBox<float> OrientedBoxf

◆ OrientedBoxi

typedef OrientedBox<int> OrientedBoxi

◆ PairInput

using PairInput = uint32_t

◆ PairOutput

using PairOutput = uint64_t

◆ Planed

typedef Plane<double> Planed

◆ Planef

typedef Plane<float> Planef

◆ Planei

typedef Plane<int> Planei

◆ Pose3d

typedef Pose3<double> Pose3d

◆ Pose3f

typedef Pose3<float> Pose3f

◆ Pose3i

typedef Pose3<int> Pose3i

◆ Quaterniond

typedef Quaternion<double> Quaterniond

◆ Quaternionf

typedef Quaternion<float> Quaternionf

◆ Quaternioni

typedef Quaternion<int> Quaternioni

◆ Triangle3d

typedef Triangle3<double> Triangle3d

Double specialization of the Triangle class.

◆ Triangle3f

typedef Triangle3<float> Triangle3f

Float specialization of the Triangle class.

◆ Triangle3i

typedef Triangle3<int> Triangle3i

Integer specialization of the Triangle class.

◆ Triangled

typedef Triangle<double> Triangled

Double specialization of the Triangle class.

◆ Trianglef

typedef Triangle<float> Trianglef

Float specialization of the Triangle class.

◆ Trianglei

typedef Triangle<int> Trianglei

Integer specialization of the Triangle class.

◆ UniformIntDist

typedef std::uniform_int_distribution<int32_t> UniformIntDist

◆ UniformRealDist

typedef std::uniform_real_distribution<double> UniformRealDist

◆ Vector2d

typedef Vector2<double> Vector2d

◆ Vector2f

typedef Vector2<float> Vector2f

◆ Vector2i

typedef Vector2<int> Vector2i

◆ Vector3d

typedef Vector3<double> Vector3d

◆ Vector3f

typedef Vector3<float> Vector3f

◆ Vector3i

typedef Vector3<int> Vector3i

◆ Vector4d

typedef Vector4<double> Vector4d

◆ Vector4f

typedef Vector4<float> Vector4f

◆ Vector4i

typedef Vector4<int> Vector4i

Function Documentation

◆ clamp()

static const static double const static double const static double const static double const static float const static float const static float const static float const static uint16_t const static uint16_t const static uint16_t const static uint16_t const static int16_t const static int16_t const static int16_t const static int16_t const static uint32_t const static uint32_t const static uint32_t const static uint32_t const static int32_t const static int32_t const static int32_t const static int32_t const static uint64_t const static uint64_t const static uint64_t const static uint64_t const static int64_t const static int64_t const static int64_t const int64_t T ignition::math::clamp	(	T	_v,
		T	_min,
		T	_max
	)

inlinestatic

Simple clamping function.

Parameters

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

References std::max(), and std::min().

Referenced by Matrix3< T >::Col(), Line3< T >::Distance(), Matrix3< T >::operator()(), Matrix4< T >::operator()(), Triangle< T >::operator[](), Triangle3< T >::operator[](), Line2< T >::operator[](), Line3< T >::operator[](), Vector2< T >::operator[](), Vector4< T >::operator[](), Vector3< T >::operator[](), Triangle< T >::Set(), and Triangle3< T >::Set().

◆ equal()

bool ignition::math::equal	(	const T &	_a,
		const T &	_b,
		const T &	_epsilon = `T(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

References IGN_FP_VOLATILE.

Referenced by Line2< T >::Collinear(), Quaternion< T >::Correct(), Line2< T >::Intersect(), Triangle3< T >::Intersects(), Matrix4< T >::IsAffine(), Quaternion< T >::operator!=(), Quaternion< T >::operator==(), Line2< T >::Parallel(), and Line2< T >::Slope().

◆ fixnan() [1/2]

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 std::isinf(), and isnan().

◆ fixnan() [2/2]

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 std::isinf(), and isnan().

◆ greaterOrNearEqual()

bool ignition::math::greaterOrNearEqual	(	const T &	_a,
		const T &	_b,
		const T &	_epsilon = `1e-6`
	)

inline

inequality test, within a tolerance

Parameters

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

◆ isEven() [1/2]

bool ignition::math::isEven ( const int _v )

inline

Check if parameter is even.

Parameters

[in] _v Value to check.

Returns: True if _v is even.

◆ isEven() [2/2]

bool ignition::math::isEven ( const unsigned int _v )

inline

Check if parameter is even.

Parameters

[in] _v Value to check.

Returns: True if _v is even.

◆ isnan() [1/2]

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 std::isnan().

Referenced by fixnan().

◆ isnan() [2/2]

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

References std::isnan().

◆ isOdd() [1/2]

bool ignition::math::isOdd ( const int _v )

inline

Check if parameter is odd.

Parameters

[in] _v Value to check.

Returns: True if _v is odd.

◆ isOdd() [2/2]

bool ignition::math::isOdd ( const unsigned int _v )

inline

Check if parameter is odd.

Parameters

[in] _v Value to check.

Returns: True if _v is odd.

◆ isPowerOfTwo()

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().

◆ lessOrNearEqual()

bool ignition::math::lessOrNearEqual	(	const T &	_a,
		const T &	_b,
		const T &	_epsilon = `1e-6`
	)

inline

inequality test, within a tolerance

Parameters

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

◆ max()

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 numeric_limits::min(), and vector< T >::size().

◆ mean()

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

References vector< T >::size().

◆ min()

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 numeric_limits::max(), and vector< T >::size().

◆ Pair()

PairOutput ignition::math::Pair	(	const PairInput	_a,
		const PairInput	_b
	)

A pairing function that maps two values to a unique third value. This is an implement of Szudzik's function.

Parameters

[in]	_a	First value, must be a non-negative integer. On Windows this value is uint16_t. On Linux/OSX this value is uint32_t.
[in]	_b	Second value, must be a non-negative integer. On Windows this value is uint16_t. On Linux/OSX this value is uint32_t.

Returns: A unique non-negative integer value. On Windows the return value is uint32_t. On Linux/OSX the return value is uint64_t

See also: Unpair

◆ parseFloat()

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 string::empty(), string::find_first_not_of(), NAN_D, and std::stod().

◆ parseInt()

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 string::empty(), string::find_first_not_of(), NAN_I, and std::stoi().

◆ precision()

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

References std::pow(), and std::round().

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

◆ roundUpPowerOfTwo()

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().

◆ sgn()

int ignition::math::sgn ( T _value )

inline

The signum function.

Returns 0 for zero values, -1 for negative values, +1 for positive values.

Parameters

[in] _value The value.

Returns: The signum of the value.

Referenced by signum().

◆ signum()

int ignition::math::signum ( T _value )

inline

The signum function.

Returns 0 for zero values, -1 for negative values, +1 for positive values.

Parameters

[in] _value The value.

Returns: The signum of the value.

References sgn().

◆ sort2()

void ignition::math::sort2	(	T &	_a,
		T &	_b
	)

inline

Sort two numbers, such that _a <= _b.

Parameters

[out]	_a	the first number
[out]	_b	the second number

References std::swap().

Referenced by sort3().

◆ sort3()

void ignition::math::sort3	(	T &	_a,
		T &	_b,
		T &	_c
	)

inline

Sort three numbers, such that _a <= _b <= _c.

Parameters

[out]	_a	the first number
[out]	_b	the second number
[out]	_c	the third number

References sort2().

Referenced by MassMatrix3< T >::PrincipalMoments().

◆ Unpair()

std::tuple<PairInput, PairInput> ignition::math::Unpair ( const PairOutput _key )

The reverse of the Pair function. Accepts a key, produced from the Pair function, and returns a tuple consisting of the two non-negative integer values used to create the _key.

Parameters

[in] _key A non-negative integer generated from the Pair function. On Windows this value is uint32_t. On Linux/OSX, this value is uint64_t.

Returns: A tuple that consists of the two non-negative integers that will generate _key when used with the Pair function. On Windows the tuple contains two uint16_t values. On Linux/OSX the tuple contains two uint32_t values.

See also: Pair

◆ variance()

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

References vector< T >::size().

Variable Documentation

◆ IGN_EIGHT_SIZE_T

const size_t IGN_EIGHT_SIZE_T = 8u

static

size_t type with a value of 8

◆ IGN_FIVE_SIZE_T

const size_t IGN_FIVE_SIZE_T = 5u

static

size_t type with a value of 5

◆ IGN_FOUR_SIZE_T

const size_t IGN_FOUR_SIZE_T = 4u

static

size_t type with a value of 4

◆ IGN_NINE_SIZE_T

const size_t IGN_NINE_SIZE_T = 9u

static

size_t type with a value of 9

◆ IGN_ONE_SIZE_T

const size_t IGN_ONE_SIZE_T = 1u

static

size_t type with a value of 1

Referenced by Line2< T >::operator[](), Line3< T >::operator[](), and Vector2< T >::operator[]().

◆ IGN_SEVEN_SIZE_T

const size_t IGN_SEVEN_SIZE_T = 7u

static

size_t type with a value of 7

◆ IGN_SIX_SIZE_T

const size_t IGN_SIX_SIZE_T = 6u

static

size_t type with a value of 6

◆ IGN_THREE_SIZE_T

const size_t IGN_THREE_SIZE_T = 3u

static

size_t type with a value of 3

Referenced by Matrix4< T >::operator()(), and Vector4< T >::operator[]().

◆ IGN_TWO_SIZE_T

const size_t IGN_TWO_SIZE_T = 2u

static

size_t type with a value of 2

Referenced by Matrix3< T >::operator()(), Triangle< T >::operator[](), Triangle3< T >::operator[](), and Vector3< T >::operator[]().

◆ IGN_ZERO_SIZE_T

const size_t IGN_ZERO_SIZE_T = 0u

static

size_t type with a value of 0

Referenced by Matrix3< T >::operator()(), Matrix4< T >::operator()(), Triangle< T >::operator[](), Triangle3< T >::operator[](), Line2< T >::operator[](), Line3< T >::operator[](), Vector2< T >::operator[](), Vector4< T >::operator[](), and Vector3< T >::operator[]().

◆ INF_D

const double INF_D = std::numeric_limits<double>::infinity()

static

Double positive infinite value.

◆ INF_F

const float INF_F = std::numeric_limits<float>::infinity()

static

float positive infinite value

◆ INF_I16

const int16_t INF_I16 = std::numeric_limits<int16_t>::infinity()

static

16-bit unsigned integer positive infinite value

◆ INF_I32

const int32_t INF_I32 = std::numeric_limits<int32_t>::infinity()

static

32-bit unsigned integer positive infinite value

◆ INF_I64

const int64_t INF_I64 = std::numeric_limits<int64_t>::infinity()

static

64-bit unsigned integer positive infinite value

◆ INF_UI16

const uint16_t INF_UI16 = std::numeric_limits<uint16_t>::infinity()

static

16-bit unsigned integer positive infinite value

◆ INF_UI32

const uint32_t INF_UI32 = std::numeric_limits<uint32_t>::infinity()

static

32-bit unsigned integer positive infinite value

◆ INF_UI64

const uint64_t INF_UI64 = std::numeric_limits<uint64_t>::infinity()

static

64-bit unsigned integer positive infinite value

◆ LOW_D

const double LOW_D = std::numeric_limits<double>::lowest()

static

Double low value, equivalent to -MAX_D.

◆ LOW_F

const float LOW_F = std::numeric_limits<float>::lowest()

static

Float low value, equivalent to -MAX_F.

◆ LOW_I16

const int16_t LOW_I16 = std::numeric_limits<int16_t>::lowest()

static

16bit unsigned integer lowest value. This is equivalent to IGN_INT16_MIN, and is defined here for completeness.

◆ LOW_I32

const int32_t LOW_I32 = std::numeric_limits<int32_t>::lowest()

static

32bit unsigned integer lowest value. This is equivalent to IGN_INT32_MIN, and is defined here for completeness.

◆ LOW_I64

const int64_t LOW_I64 = std::numeric_limits<int64_t>::lowest()

static

64bit unsigned integer lowest value. This is equivalent to IGN_INT64_MIN, and is defined here for completeness.

◆ LOW_UI16

const uint16_t LOW_UI16 = std::numeric_limits<uint16_t>::lowest()

static

16bit unsigned integer lowest value. This is equivalent to IGN_UINT16_MIN, and is defined here for completeness.

◆ LOW_UI32

const uint32_t LOW_UI32 = std::numeric_limits<uint32_t>::lowest()

static

32bit unsigned integer lowest value. This is equivalent to IGN_UINT32_MIN, and is defined here for completeness.

◆ LOW_UI64

const uint64_t LOW_UI64 = std::numeric_limits<uint64_t>::lowest()

static

64bit unsigned integer lowest value. This is equivalent to IGN_UINT64_MIN, and is defined here for completeness.

◆ MAX_D

const double MAX_D = std::numeric_limits<double>::max()

static

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

Referenced by ignition::math::graph::Dijkstra().

◆ MAX_F

const float MAX_F = std::numeric_limits<float>::max()

static

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

◆ MAX_I16

const int16_t MAX_I16 = std::numeric_limits<int16_t>::max()

static

16bit unsigned integer maximum value

◆ MAX_I32

const int32_t MAX_I32 = std::numeric_limits<int32_t>::max()

static

32bit unsigned integer maximum value

◆ MAX_I64

const int64_t MAX_I64 = std::numeric_limits<int64_t>::max()

static

64bit unsigned integer maximum value

◆ MAX_UI16

const uint16_t MAX_UI16 = std::numeric_limits<uint16_t>::max()

static

16bit unsigned integer maximum value

◆ MAX_UI32

const uint32_t MAX_UI32 = std::numeric_limits<uint32_t>::max()

static

32bit unsigned integer maximum value

◆ MAX_UI64

const uint64_t MAX_UI64 = std::numeric_limits<uint64_t>::max()

static

64bit unsigned integer maximum value

Referenced by Graph< V, E, EdgeType >::EdgeFromId().

◆ MIN_D

const double MIN_D = std::numeric_limits<double>::min()

static

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

Referenced by Quaternion< T >::Integrate().

◆ MIN_F

const float MIN_F = std::numeric_limits<float>::min()

static

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

◆ MIN_I16

const int16_t MIN_I16 = std::numeric_limits<int16_t>::min()

static

16bit unsigned integer minimum value

◆ MIN_I32

const int32_t MIN_I32 = std::numeric_limits<int32_t>::min()

static

32bit unsigned integer minimum value

◆ MIN_I64

const int64_t MIN_I64 = std::numeric_limits<int64_t>::min()

static

64bit unsigned integer minimum value

◆ MIN_UI16

const uint16_t MIN_UI16 = std::numeric_limits<uint16_t>::min()

static

16bit unsigned integer minimum value

◆ MIN_UI32

const uint32_t MIN_UI32 = std::numeric_limits<uint32_t>::min()

static

32bit unsigned integer minimum value

◆ MIN_UI64

const uint64_t MIN_UI64 = std::numeric_limits<uint64_t>::min()

static

64bit unsigned integer minimum value

◆ 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 parseFloat(), and Line2< T >::Slope().

◆ NAN_F

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

static

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

◆ 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 parseInt().

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ GeneratorType

◆ Inertiald

◆ Inertialf

◆ Line2d

◆ Line2f

◆ Line2i

◆ Line3d

◆ Line3f

◆ Line3i

◆ MassMatrix3d

◆ MassMatrix3f

◆ Matrix3d

◆ Matrix3f

◆ Matrix3i

◆ Matrix4d

◆ Matrix4f

◆ Matrix4i

◆ NormalRealDist

◆ OrientedBoxd

◆ OrientedBoxf

◆ OrientedBoxi

◆ PairInput

◆ PairOutput

◆ Planed

◆ Planef

◆ Planei

◆ Pose3d

◆ Pose3f

◆ Pose3i

◆ Quaterniond

◆ Quaternionf

◆ Quaternioni

◆ Triangle3d

◆ Triangle3f

◆ Triangle3i

◆ Triangled

◆ Trianglef

◆ Trianglei

◆ UniformIntDist

◆ UniformRealDist

◆ Vector2d

◆ Vector2f

◆ Vector2i

◆ Vector3d

◆ Vector3f

◆ Vector3i

◆ Vector4d

◆ Vector4f

◆ Vector4i

Function Documentation

◆ clamp()

◆ equal()

◆ fixnan() [1/2]

◆ fixnan() [2/2]

◆ greaterOrNearEqual()

◆ isEven() [1/2]

◆ isEven() [2/2]

◆ isnan() [1/2]

◆ isnan() [2/2]

◆ isOdd() [1/2]

◆ isOdd() [2/2]

◆ isPowerOfTwo()

◆ lessOrNearEqual()

◆ max()

◆ mean()

◆ min()

◆ Pair()

◆ parseFloat()

◆ parseInt()

◆ precision()

◆ roundUpPowerOfTwo()

◆ sgn()

◆ signum()