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

Namespaces
	eigen3

	graph

Classes
class	AdditivelySeparableScalarField3
	The AdditivelySeparableScalarField3 class constructs a scalar field F in R^3 as a sum of scalar functions i.e. F(x, y, z) = k (p(x) + q(y) + r(z)). More...

class	Angle
	The Angle class is used to simplify and clarify the use of radians and degrees measurements. A default constructed Angle instance has a value of zero radians/degrees. More...

class	AxisAlignedBox
	Mathematical representation of a box that is aligned along an X,Y,Z axis. More...

class	BiQuad
	Bi-quad filter base class. More...

class	BiQuadVector3
	BiQuad vector3 filter. More...

class	Box
	A representation of a box. All units are in meters. More...

class	Capsule
	A representation of a capsule or sphere-capped cylinder. 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	Cylinder
	A representation of a cylinder. More...

class	DiffDriveOdometry
	Computes odometry values based on a set of kinematic properties and wheel speeds for a diff-drive vehicle. More...

class	Ellipsoid
	A representation of a general ellipsoid. 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	GaussMarkovProcess
	Implementation of a stationary gauss-markov process, also known as a Ornstein Ulenbeck process. More...

class	Inertial
	The Inertial object provides a representation for the mass and inertia matrix of a body B. The components of the inertia matrix are expressed in what we call the "inertial" frame Bi of the body, i.e. the frame in which these inertia components are measured. The inertial frame Bi must be located at the center of mass of the body, but not necessarily aligned with the body’s frame. In addition, this class allows users to specify a frame F for these inertial properties by specifying the pose X_FBi of the inertial frame Bi in the inertial object frame F. More...

class	InMemorySession
	An in-memory session. Loads the whole dataset in memory and performs queries. More...

class	InMemoryTimeVaryingVolumetricGridFactory
	Factory class for constructing an InMemoryTimeVaryingVolumetricGrid. More...

class	Interval
	The Interval class represents a range of real numbers. Intervals may be open (a, b), left-closed [a, b), right-closed (a, b], or fully closed [a, b]. 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	Material
	Contains information about a single material. More...

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

class	Matrix4
	A 4x4 matrix class. More...

class	Matrix6
	A 6x6 matrix class. More...

class	MecanumDriveOdometry
	Computes odometry values based on a set of kinematic properties and wheel speeds for a Mecanum-drive vehicle. More...

class	MovingWindowFilter
	Base class for MovingWindowFilter. This replaces the version of MovingWindowFilter in the Gazebo 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	PiecewiseScalarField3
	The PiecewiseScalarField3 class constructs a scalar field F in R^3 as a union of scalar fields Pn, defined over regions Rn i.e. piecewise. More...

class	Plane
	A plane and related functions. More...

class	Polynomial3
	The Polynomial3 class represents a cubic polynomial with real coefficients p(x) = c0 x^3 + c1 x^2 + c2 x + c3. More...

class	Pose3
	The Pose3 class represents a 3D position and rotation. The position component is a Vector3, and the rotation is a Quaternion. More...

class	Quaternion
	A quaternion class that represents 3D rotations and orientations. Four scalar values, [w,x,y,z], are used represent orientations and rotations. More...

class	Rand
	Random number generator class. More...

class	Region3
	The Region3 class represents the cartesian product of intervals Ix ✕ Iy ✕ Iz, one per axis, yielding an axis-aligned region of R^3 space. It can be thought of as an intersection of halfspaces. Regions may be open or closed in their boundaries, if any. More...

class	RollingMean
	A class that computes the mean over a series of data points. The window size determines the maximum number of data points. The oldest value is popped off when the window size is reached and a new value is pushed in. 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	SpeedLimiter
	Class to limit velocity, acceleration and jerk. More...

class	Sphere
	A representation of a sphere. More...

class	SphericalCoordinates
	Convert spherical coordinates for planetary surfaces. More...

class	Spline
	Splines. More...

class	Stopwatch
	The Stopwatch keeps track of time spent in the run state, accessed through ElapsedRunTime(), and time spent in the stop state, accessed through ElapsedStopTime(). Elapsed run time starts accumulating after the first call to Start(). Elapsed stop time starts accumulation after Start() has been called followed by Stop(). The stopwatch can be reset with the Reset() function. More...

class	Temperature
	A class that stores temperature information, and allows conversion between different units. More...

class	TimeVaryingVolumetricGrid
	A grid with interpolation where time can be varied. This class has no implementation to allow for different strategies. More...

class	TimeVaryingVolumetricGrid< T, V, InMemorySession< T, P >, P >
	Specialization of TimeVaryingVolumetricGrid which loads the whole of the dataset into memory. To construct this class use `InMemoryTimeVaryingVolumetricGridFactory` More...

class	TimeVaryingVolumetricGridLookupField
	Lookup table for a time-varying volumetric dataset. This is an unimplemented template as the actual methods depend on the underlying structure. The key idea is that one uses a session `S` to hold a session token. This is so that we don't keep doing O(logn) lookups and instead step along the axis. More...

class	TimeVaryingVolumetricGridLookupField< T, V, InMemorySession< T, V > >
	Specialized version of `TimeVaryingVolumetricGridLookupField` for in-memory lookup. It loads the whole dataset into memory. 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...

class	VolumetricGridLookupField
	Lookup table for a volumetric dataset. This class is used to lookup indices for a large dataset that's organized in a grid. This class is not meant to be used with non-grid like data sets. The grid may be sparse or non uniform and missing data points. More...

Typedefs
template<typename ScalarFunctionT >
using	AdditivelySeparableScalarField3d = AdditivelySeparableScalarField3< ScalarFunctionT, double >

template<typename ScalarFunctionT >
using	AdditivelySeparableScalarField3f = AdditivelySeparableScalarField3< ScalarFunctionT, float >

typedef Box< double >	Boxd
	Box with double precision. More...

typedef Box< float >	Boxf
	Box with float precision. More...

typedef Box< int >	Boxi
	Box with integer precision. More...

typedef Capsule< double >	Capsuled
	Capsule with double precision. More...

typedef Capsule< float >	Capsulef
	Capsule with float precision. More...

typedef Capsule< int >	Capsulei
	Capsule with integer precision. More...

using	clock = std::chrono::steady_clock

typedef Cylinder< double >	Cylinderd
	Cylinder with double precision. More...

typedef Cylinder< float >	Cylinderf
	Cylinder with float precision. More...

typedef Cylinder< int >	Cylinderi
	Cylinder with integer precision. More...

typedef std::chrono::duration< uint64_t, std::ratio< 86400 > >	days
	This will exist in C++-20. More...

typedef Ellipsoid< double >	Ellipsoidd
	Ellipsoid with double precision. More...

typedef Ellipsoid< float >	Ellipsoidf
	Ellipsoid with float precision. More...

typedef Ellipsoid< int >	Ellipsoidi
	Ellipsoid with integer precision. More...

typedef std::mt19937	GeneratorType

typedef Inertial< double >	Inertiald

typedef Inertial< float >	Inertialf

template<typename T , typename V = T, typename P = T>
using	InMemoryTimeVaryingVolumetricGrid = TimeVaryingVolumetricGrid< T, V, InMemorySession< T, P >, P >
	Alias for Specialization of TimeVaryingVolumetricGrid which loads the whole of the dataset into memory. More...

template<typename T >
using	IntersectionPoints = std::set< Vector3< T >, WellOrderedVectors< T > >
	This is the type used for deduplicating and returning the set of intersections. More...

using	Intervald = Interval< double >

using	Intervalf = Interval< float >

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<double> as Matrix3d. More...

typedef Matrix3< float >	Matrix3f
	typedef Matrix3<float> as Matrix3f. More...

typedef Matrix3< int >	Matrix3i
	typedef Matrix3<int> as Matrix3i. More...

typedef Matrix4< double >	Matrix4d

typedef Matrix4< float >	Matrix4f

typedef Matrix4< int >	Matrix4i

typedef Matrix6< double >	Matrix6d

typedef Matrix6< float >	Matrix6f

typedef Matrix6< int >	Matrix6i

using	MovingWindowFilterd = MovingWindowFilter< double >

using	MovingWindowFilterf = MovingWindowFilter< float >

using	MovingWindowFilteri = MovingWindowFilter< int >

using	MovingWindowFilterVector3d = MovingWindowFilter< Vector3d >

using	MovingWindowFilterVector3f = MovingWindowFilter< Vector3f >

using	MovingWindowFilterVector3i = MovingWindowFilter< Vector3i >

typedef std::normal_distribution< double >	NormalRealDist

typedef OrientedBox< double >	OrientedBoxd

typedef OrientedBox< float >	OrientedBoxf

using	PairInput = uint32_t

using	PairOutput = uint64_t

template<typename ScalarField3T >
using	PiecewiseScalarField3d = PiecewiseScalarField3< ScalarField3T, double >

template<typename ScalarField3T >
using	PiecewiseScalarField3f = PiecewiseScalarField3< ScalarField3T, float >

typedef Plane< double >	Planed

typedef Plane< float >	Planef

typedef Plane< int >	Planei

using	Polynomial3d = Polynomial3< double >

using	Polynomial3f = Polynomial3< float >

typedef Pose3< double >	Pose3d
	typedef Pose3<double> as Pose3d. More...

typedef Pose3< float >	Pose3f
	typedef Pose3<float> as Pose3f. More...

typedef Quaternion< double >	Quaterniond
	typedef Quaternion<double> as Quaterniond More...

typedef Quaternion< float >	Quaternionf
	typedef Quaternion<float> as Quaternionf More...

using	Region3d = Region3< double >

using	Region3f = Region3< float >

typedef Sphere< double >	Sphered
	Sphere with double precision. More...

typedef Sphere< float >	Spheref
	Sphere with float precision. More...

typedef Sphere< int >	Spherei
	Sphere with integer precision. More...

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

Enumerations
enum	MaterialType { STYROFOAM = 0, PINE, WOOD, OAK, PLASTIC, CONCRETE, ALUMINUM, STEEL_ALLOY, STEEL_STAINLESS, IRON, BRASS, COPPER, TUNGSTEN, UNKNOWN_MATERIAL }
	This enum lists the supported material types. A value can be used to create a Material instance. Source: https://en.wikipedia.org/wiki/Density. More...

Functions
template<>
void	appendToStream (std::ostream &_out, int _number)
	Append a number to a stream, specialized for int. More...

template<typename T >
void	appendToStream (std::ostream &_out, T _number)
	Append a number to a stream. Makes sure "-0" is returned as "0". More...

template<class... Durations, class DurationIn >
std::tuple< Durations... >	breakDownDurations (DurationIn d)
	break down durations NOTE: the template arguments must be properly ordered according to magnitude and there can be no duplicates. This function uses the braces initializer to split all the templated duration. The initializer will be called recursievely due the `...` More...

template<typename T >
T	clamp (T _v, T _min, T _max)
	Simple clamping function that constrains a value to a range defined by a min and max value. This function is equivalent to std::max(std::min(value, max), min). More...

std::pair< int64_t, int64_t >	durationToSecNsec (const std::chrono::steady_clock::duration &_dur)
	Convert a std::chrono::steady_clock::duration to a seconds and nanoseconds pair. More...

std::string	durationToString (const std::chrono::steady_clock::duration &_duration)
	Convert a std::chrono::steady_clock::duration to a string. 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...

double	fixnan (double _v)
	Fix a double NaN value. More...

float	fixnan (float _v)
	Fix a float NaN value. More...

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

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

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

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

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

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

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

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

bool	isTimeString (const std::string &_timeString)
	Check if the given string represents a time. An example time string is "0 00:00:00.000", which has the format "DAYS HOURS:MINUTES:SECONDS.MILLISECONDS". More...

template<typename T >
bool	lessOrNearEqual (const T &_a, const T &_b, const T &_epsilon=1e-6)
	Less than or near 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 value in a 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 implementation 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 the value at a specified precision. More...

int	roundUpMultiple (int _num, int _multiple)
	Round a number up to the nearest multiple. For example, if the input number is 12 and the multiple is 10, the result is 20. If the input number is negative, then the nearest multiple will be greater than or equal to the input number. For example, if the input number is -9 and the multiple is 2 then the output is -8. More...

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

std::chrono::steady_clock::duration	secNsecToDuration (const uint64_t &_sec, const uint64_t &_nanosec)
	Convert seconds and nanoseconds to std::chrono::steady_clock::duration. More...

std::chrono::steady_clock::time_point	secNsecToTimePoint (const uint64_t &_sec, const uint64_t &_nanosec)
	Convert seconds and nanoseconds to std::chrono::steady_clock::time_point. 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...

bool	splitTimeBasedOnTimeRegex (const std::string &_timeString, uint64_t &numberDays, uint64_t &numberHours, uint64_t &numberMinutes, uint64_t &numberSeconds, uint64_t &numberMilliseconds)
	Split a std::chrono::steady_clock::duration to a string. More...

std::chrono::steady_clock::duration	stringToDuration (const std::string &_timeString)
	Convert a string to a std::chrono::steady_clock::duration. More...

std::chrono::steady_clock::time_point	stringToTimePoint (const std::string &_timeString)
	Convert a string to a std::chrono::steady_clock::time_point. More...

std::pair< int64_t, int64_t >	timePointToSecNsec (const std::chrono::steady_clock::time_point &_time)
	Convert a std::chrono::steady_clock::time_point to a seconds and nanoseconds pair. More...

std::string	timePointToString (const std::chrono::steady_clock::time_point &_point)
	Convert a std::chrono::steady_clock::time_point to a string. 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 the variance of a vector of values. More...

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

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

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

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

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

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

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

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

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

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

constexpr auto	IGN_EIGHT_SIZE_T = &GZ_EIGHT_SIZE_T

constexpr auto	IGN_FIVE_SIZE_T = &GZ_FIVE_SIZE_T

constexpr auto	IGN_FOUR_SIZE_T = &GZ_FOUR_SIZE_T

constexpr auto	IGN_NINE_SIZE_T = &GZ_NINE_SIZE_T

constexpr auto	IGN_ONE_SIZE_T = &GZ_ONE_SIZE_T

constexpr auto	IGN_SEVEN_SIZE_T = &GZ_SEVEN_SIZE_T

constexpr auto	IGN_SIX_SIZE_T = &GZ_SIX_SIZE_T

constexpr auto	IGN_THREE_SIZE_T = &GZ_THREE_SIZE_T

constexpr auto	IGN_TWO_SIZE_T = &GZ_TWO_SIZE_T

constexpr auto	IGN_ZERO_SIZE_T = &GZ_ZERO_SIZE_T

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 GZ_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 GZ_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 GZ_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 GZ_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 GZ_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 GZ_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

◆ AdditivelySeparableScalarField3d

using AdditivelySeparableScalarField3d = AdditivelySeparableScalarField3<ScalarFunctionT, double>

◆ AdditivelySeparableScalarField3f

using AdditivelySeparableScalarField3f = AdditivelySeparableScalarField3<ScalarFunctionT, float>

◆ Boxd

Box< double > Boxd

Box with double precision.

◆ Boxf

Box< float > Boxf

Box with float precision.

◆ Boxi

Box< int > Boxi

Box with integer precision.

◆ Capsuled

Capsule< double > Capsuled

Capsule with double precision.

◆ Capsulef

Capsule< float > Capsulef

Capsule with float precision.

◆ Capsulei

Capsule< int > Capsulei

Capsule with integer precision.

◆ clock

typedef std::chrono::steady_clock clock

◆ Cylinderd

Cylinder< double > Cylinderd

Cylinder with double precision.

◆ Cylinderf

Cylinder< float > Cylinderf

Cylinder with float precision.

◆ Cylinderi

Cylinder< int > Cylinderi

Cylinder with integer precision.

◆ days

typedef std::chrono::duration<uint64_t, std::ratio<86400> > days

This will exist in C++-20.

◆ Ellipsoidd

Ellipsoid< double > Ellipsoidd

Ellipsoid with double precision.

◆ Ellipsoidf

Ellipsoid< float > Ellipsoidf

Ellipsoid with float precision.

◆ Ellipsoidi

Ellipsoid< int > Ellipsoidi

Ellipsoid with integer precision.

◆ GeneratorType

typedef std::mt19937 GeneratorType

◆ Inertiald

typedef Inertial<double> Inertiald

◆ Inertialf

typedef Inertial<float> Inertialf

◆ InMemoryTimeVaryingVolumetricGrid

using InMemoryTimeVaryingVolumetricGrid = TimeVaryingVolumetricGrid<T, V, InMemorySession<T, P>, P>

Alias for Specialization of TimeVaryingVolumetricGrid which loads the whole of the dataset into memory.

◆ IntersectionPoints

using IntersectionPoints = std::set<Vector3<T>, WellOrderedVectors<T> >

This is the type used for deduplicating and returning the set of intersections.

◆ Intervald

using Intervald = Interval<double>

◆ Intervalf

using Intervalf = Interval<float>

◆ 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

typedef Matrix3<double> as Matrix3d.

◆ Matrix3f

typedef Matrix3<float> Matrix3f

typedef Matrix3<float> as Matrix3f.

◆ Matrix3i

typedef Matrix3<int> Matrix3i

typedef Matrix3<int> as Matrix3i.

◆ Matrix4d

typedef Matrix4<double> Matrix4d

◆ Matrix4f

typedef Matrix4<float> Matrix4f

◆ Matrix4i

typedef Matrix4<int> Matrix4i

◆ Matrix6d

typedef Matrix6<double> Matrix6d

◆ Matrix6f

typedef Matrix6<float> Matrix6f

◆ Matrix6i

typedef Matrix6<int> Matrix6i

◆ MovingWindowFilterd

using MovingWindowFilterd = MovingWindowFilter<double>

◆ MovingWindowFilterf

using MovingWindowFilterf = MovingWindowFilter<float>

◆ MovingWindowFilteri

using MovingWindowFilteri = MovingWindowFilter<int>

◆ MovingWindowFilterVector3d

using MovingWindowFilterVector3d = MovingWindowFilter<Vector3d>

◆ MovingWindowFilterVector3f

using MovingWindowFilterVector3f = MovingWindowFilter<Vector3f>

◆ MovingWindowFilterVector3i

using MovingWindowFilterVector3i = MovingWindowFilter<Vector3i>

◆ NormalRealDist

typedef std::normal_distribution<double> NormalRealDist

◆ OrientedBoxd

typedef OrientedBox<double> OrientedBoxd

◆ OrientedBoxf

typedef OrientedBox<float> OrientedBoxf

◆ PairInput

using PairInput = uint32_t

◆ PairOutput

using PairOutput = uint64_t

◆ PiecewiseScalarField3d

using PiecewiseScalarField3d = PiecewiseScalarField3<ScalarField3T, double>

◆ PiecewiseScalarField3f

using PiecewiseScalarField3f = PiecewiseScalarField3<ScalarField3T, float>

◆ Planed

typedef Plane<double> Planed

◆ Planef

typedef Plane<float> Planef

◆ Planei

typedef Plane<int> Planei

◆ Polynomial3d

using Polynomial3d = Polynomial3<double>

◆ Polynomial3f

using Polynomial3f = Polynomial3<float>

◆ Pose3d

typedef Pose3<double> Pose3d

typedef Pose3<double> as Pose3d.

◆ Pose3f

typedef Pose3<float> Pose3f

typedef Pose3<float> as Pose3f.

◆ Quaterniond

typedef Quaternion<double> Quaterniond

typedef Quaternion<double> as Quaterniond

◆ Quaternionf

typedef Quaternion<float> Quaternionf

typedef Quaternion<float> as Quaternionf

◆ Region3d

using Region3d = Region3<double>

◆ Region3f

using Region3f = Region3<float>

◆ Sphered

Sphere< double > Sphered

Sphere with double precision.

◆ Spheref

Sphere< float > Spheref

Sphere with float precision.

◆ Spherei

Sphere< int > Spherei

Sphere with integer precision.

◆ 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

Enumeration Type Documentation

◆ MaterialType

enum MaterialType

strong

This enum lists the supported material types. A value can be used to create a Material instance. Source: https://en.wikipedia.org/wiki/Density.

See also: Material

Enumerator
STYROFOAM	Styrofoam, density = 75.0 kg/m^3 String name = "styrofoam".
PINE	Pine, density = 373.0 kg/m^3 String name = "pine".
WOOD	Wood, density = 700.0 kg/m^3 String name = "wood".
OAK	Oak, density = 710.0 kg/m^3 String name = "oak".
PLASTIC	Plastic, density = 1175.0 kg/m^3 String name = "plastic".
CONCRETE	Concrete, density = 2000.0 kg/m^3 String name = "concrete".
ALUMINUM	Aluminum, density = 2700.0 kg/m^3 String name = "aluminum".
STEEL_ALLOY	Steel alloy, density = 7600.0 kg/m^3 String name = "steel_alloy".
STEEL_STAINLESS	Stainless steel, density = 7800.0 kg/m^3 String name = "steel_stainless".
IRON	Iron, density = 7870.0 kg/m^3 String name = "iron".
BRASS	Brass, density = 8600.0 kg/m^3 String name = "brass".
COPPER	Copper, density = 8940.0 kg/m^3 String name = "copper".
TUNGSTEN	Tungsten, density = 19300.0 kg/m^3 String name = "tungsten".
UNKNOWN_MATERIAL	Represents an invalid or unknown material.

Function Documentation

◆ appendToStream() [1/2]

void gz::math::appendToStream	(	std::ostream &	_out,
		int	_number
	)

inline

Append a number to a stream, specialized for int.

Parameters

[out]	_out	Output stream.
[in]	_number	Number to append.

◆ appendToStream() [2/2]

void gz::math::appendToStream	(	std::ostream &	_out,
		T	_number
	)

inline

Append a number to a stream. Makes sure "-0" is returned as "0".

Parameters

[out]	_out	Output stream.
[in]	_number	Number to append.

References std::fpclassify().

◆ breakDownDurations()

std::tuple<Durations...> gz::math::breakDownDurations ( DurationIn d )

break down durations NOTE: the template arguments must be properly ordered according to magnitude and there can be no duplicates. This function uses the braces initializer to split all the templated duration. The initializer will be called recursievely due the ...

Parameters

[in] d Duration to break down

Returns: A tuple based on the durations specified

◆ clamp()

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

inline

Simple clamping function that constrains a value to a range defined by a min and max value. This function is equivalent to std::max(std::min(value, max), min).

Parameters

[in]	_v	Value to clamp
[in]	_min	Minimum allowed value.
[in]	_max	Maximum allowed value.

Returns: The value _v clamped to the range defined by _min and _max.

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

Referenced by Line3< T >::Distance(), Matrix6< T >::operator()(), 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< Precision >::operator[](), Triangle< T >::Set(), Triangle3< T >::Set(), Matrix3< T >::Set(), and Matrix3< T >::SetCol().

◆ durationToSecNsec()

std::pair<int64_t, int64_t> gz::math::durationToSecNsec ( const std::chrono::steady_clock::duration & _dur )

Convert a std::chrono::steady_clock::duration to a seconds and nanoseconds pair.

Parameters

[in] _dur The duration to convert.

Returns: A pair where the first element is the number of seconds and the second is the number of nanoseconds.

◆ durationToString()

std::string gz::math::durationToString ( const std::chrono::steady_clock::duration & _duration )

Convert a std::chrono::steady_clock::duration to a string.

Parameters

[in] _duration The std::chrono::steady_clock::duration to convert.

Returns: A string formatted with the duration

◆ equal()

bool gz::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

Returns: True if the two values fall within the given tolerance.

References GZ_FP_VOLATILE.

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

◆ fixnan() [1/2]

double gz::math::fixnan ( double _v )

inline

Fix a double NaN value.

Parameters

[in] _v Value to correct.

Returns: 0 if _v is NaN or is infinite, _v otherwise.

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

◆ fixnan() [2/2]

float gz::math::fixnan ( float _v )

inline

Fix a float NaN value.

Parameters

[in] _v Value to correct.

Returns: 0 if _v is NaN or infinite, _v otherwise.

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

◆ greaterOrNearEqual()

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

inline

Greater than or near test, within a tolerance.

Parameters

[in]	_a	The first value.
[in]	_b	The second value.
[in]	_epsilon	The tolerance.

Returns: True if _a > _b - _epsilon.

◆ isEven() [1/2]

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

inline

Check if an int is even.

Parameters

[in] _v Value to check.

Returns: True if _v is even.

◆ isEven() [2/2]

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

inline

Check if an unsigned int is even.

Parameters

[in] _v Value to check.

Returns: True if _v is even.

◆ isnan() [1/2]

bool gz::math::isnan ( double _v )

inline

Check if a double is NaN.

Parameters

[in] _v The value to check

Returns: True if _v is not a number, false otherwise.

References std::isnan().

◆ isnan() [2/2]

bool gz::math::isnan ( float _v )

inline

Check if a float is NaN.

Parameters

[in] _v The value to check.

Returns: True if _v is not a number, false otherwise.

References std::isnan().

Referenced by Polynomial3< T >::Evaluate(), and fixnan().

◆ isOdd() [1/2]

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

inline

Check if an int is odd.

Parameters

[in] _v Value to check.

Returns: True if _v is odd.

◆ isOdd() [2/2]

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

inline

Check if an unsigned int is odd.

Parameters

[in] _v Value to check.

Returns: True if _v is odd.

◆ isPowerOfTwo()

bool gz::math::isPowerOfTwo ( unsigned int _x )

inline

Is the parameter a power of 2?

Parameters

[in] _x The number to check.

Returns: True if _x is a power of 2, false otherwise.

Referenced by roundUpPowerOfTwo().

◆ isTimeString()

bool gz::math::isTimeString ( const std::string & _timeString )

inline

Check if the given string represents a time. An example time string is "0 00:00:00.000", which has the format "DAYS HOURS:MINUTES:SECONDS.MILLISECONDS".

Returns: True if the regex was able to split the string otherwise False

References splitTimeBasedOnTimeRegex().

◆ lessOrNearEqual()

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

inline

Less than or near test, within a tolerance.

Parameters

[in]	_a	The first value.
[in]	_b	The second value.
[in]	_epsilon	The tolerance.

Returns: True if _a < _b + _tol.

◆ max()

T gz::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 value in the vector.

References std::begin(), std::end(), and std::max_element().

Referenced by Vector3< Precision >::MaxAbs().

◆ mean()

T gz::math::mean ( const std::vector< T > & _values )

inline

Get mean value in a vector of values.

Parameters

[in] _values The vector of values.

Returns: The mean value in the provided vector.

References vector< T >::size().

Referenced by gz::math::eigen3::verticesToOrientedBox().

◆ min()

T gz::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 value in the vector.

References std::begin(), std::end(), and std::min_element().

Referenced by Vector3< Precision >::MinAbs().

◆ Pair()

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

A pairing function that maps two values to a unique third value. This is an implementation 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 gz::math::parseFloat ( const std::string & _input )

parse string into float.

Parameters

[in] _input The string.

Returns: A floating point number (can be NaN) or NAN_D if the _input could not be parsed.

◆ parseInt()

int gz::math::parseInt ( const std::string & _input )

Parse string into an integer.

Parameters

[in] _input The input string.

Returns: An integer, or NAN_I if unable to parse the input.

◆ precision()

T gz::math::precision	(	const T &	_a,
		const unsigned int &	_precision
	)

inline

Get the 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< Precision >::Round(), and Quaternion< Precision >::Round().

◆ roundUpMultiple()

int gz::math::roundUpMultiple	(	int	_num,
		int	_multiple
	)

inline

Round a number up to the nearest multiple. For example, if the input number is 12 and the multiple is 10, the result is 20. If the input number is negative, then the nearest multiple will be greater than or equal to the input number. For example, if the input number is -9 and the multiple is 2 then the output is -8.

Parameters

[in]	_num	Input number to round up.
[in]	_multiple	The multiple. If the multiple is <= zero, then the input number is returned.

Returns: The nearest multiple of _multiple that is greater than or equal to _num.

◆ roundUpPowerOfTwo()

unsigned int gz::math::roundUpPowerOfTwo ( unsigned int _x )

inline

Get the smallest power of two that is greater than or equal to a given value.

Parameters

[in] _x The value which marks the lower bound of the result.

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().

◆ secNsecToDuration()

std::chrono::steady_clock::duration gz::math::secNsecToDuration	(	const uint64_t &	_sec,
		const uint64_t &	_nanosec
	)

Convert seconds and nanoseconds to std::chrono::steady_clock::duration.

Parameters

[in]	_sec	The seconds to convert.
[in]	_nanosec	The nanoseconds to convert.

Returns: A std::chrono::steady_clock::duration based on the number of seconds and the number of nanoseconds.

◆ secNsecToTimePoint()

std::chrono::steady_clock::time_point gz::math::secNsecToTimePoint	(	const uint64_t &	_sec,
		const uint64_t &	_nanosec
	)

Convert seconds and nanoseconds to std::chrono::steady_clock::time_point.

Parameters

[in]	_sec	The seconds to convert.
[in]	_nanosec	The nanoseconds to convert.

Returns: A std::chrono::steady_clock::time_point based on the number of seconds and the number of nanoseconds.

◆ sgn()

int gz::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 gz::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 gz::math::sort2	(	T &	_a,
		T &	_b
	)

inline

Sort two numbers, such that _a <= _b.

Parameters

[in,out]	_a	The first number. This variable will contain the lower of the two values after this function completes.
[in,out]	_b	The second number. This variable will contain the higher of the two values after this function completes.

References std::swap().

Referenced by sort3().

◆ sort3()

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

inline

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

Parameters

[in,out]	_a	The first number. This variable will contain the lowest of the three values after this function completes.
[in,out]	_b	The second number. This variable will contain the middle of the three values after this function completes.
[in,out]	_c	The third number. This variable will contain the highest of the three values after this function completes.

References sort2().

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

◆ splitTimeBasedOnTimeRegex()

bool gz::math::splitTimeBasedOnTimeRegex	(	const std::string &	_timeString,
		uint64_t &	numberDays,
		uint64_t &	numberHours,
		uint64_t &	numberMinutes,
		uint64_t &	numberSeconds,
		uint64_t &	numberMilliseconds
	)

Split a std::chrono::steady_clock::duration to a string.

Parameters

[in]	_timeString	The string to convert in general format
[out]	numberDays	number of days in the string
[out]	numberHours	number of hours in the string
[out]	numberMinutes	number of minutes in the string
[out]	numberSeconds	number of seconds in the string
[out]	numberMilliseconds	number of milliseconds in the string

Returns: True if the regex was able to split the string otherwise False

Referenced by isTimeString().

◆ stringToDuration()

std::chrono::steady_clock::duration gz::math::stringToDuration ( const std::string & _timeString )

Convert a string to a std::chrono::steady_clock::duration.

Parameters

[in] _timeString The string to convert in general format "dd hh:mm:ss.nnn" where n is millisecond value

Returns: A std::chrono::steady_clock::duration containing the string's time value. If it isn't possible to convert, the duration will be zero.

◆ stringToTimePoint()

std::chrono::steady_clock::time_point gz::math::stringToTimePoint ( const std::string & _timeString )

Convert a string to a std::chrono::steady_clock::time_point.

Parameters

[in] _timeString The string to convert in general format "dd hh:mm:ss.nnn" where n is millisecond value

Returns: A std::chrono::steady_clock::time_point containing the string's time value. If it isn't possible to convert, the time will be negative 1 second.

◆ timePointToSecNsec()

std::pair<int64_t, int64_t> gz::math::timePointToSecNsec ( const std::chrono::steady_clock::time_point & _time )

Convert a std::chrono::steady_clock::time_point to a seconds and nanoseconds pair.

Parameters

[in] _time The time point to convert.

Returns: A pair where the first element is the number of seconds and the second is the number of nanoseconds.

◆ timePointToString()

std::string gz::math::timePointToString ( const std::chrono::steady_clock::time_point & _point )

Convert a std::chrono::steady_clock::time_point to a string.

Parameters

[in] _point The std::chrono::steady_clock::time_point to convert.

Returns: A string formatted with the time_point

◆ Unpair()

std::tuple<PairInput, PairInput> gz::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 gz::math::variance ( const std::vector< T > & _values )

inline

Get the variance of a vector of values.

Parameters

[in] _values The vector of values.

Returns: The squared deviation of the vector of values.

References vector< T >::size().

Variable Documentation

◆ GZ_EIGHT_SIZE_T

const size_t GZ_EIGHT_SIZE_T = 8u

static

size_t type with a value of 8

◆ GZ_FIVE_SIZE_T

const size_t GZ_FIVE_SIZE_T = 5u

static

size_t type with a value of 5

Referenced by Matrix6< T >::operator()().

◆ GZ_FOUR_SIZE_T

const size_t GZ_FOUR_SIZE_T = 4u

static

size_t type with a value of 4

◆ GZ_NINE_SIZE_T

const size_t GZ_NINE_SIZE_T = 9u

static

size_t type with a value of 9

◆ GZ_ONE_SIZE_T

const size_t GZ_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[]().

◆ GZ_SEVEN_SIZE_T

const size_t GZ_SEVEN_SIZE_T = 7u

static

size_t type with a value of 7

◆ GZ_SIX_SIZE_T

const size_t GZ_SIX_SIZE_T = 6u

static

size_t type with a value of 6

◆ GZ_THREE_SIZE_T

const size_t GZ_THREE_SIZE_T = 3u

static

size_t type with a value of 3

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

◆ GZ_TWO_SIZE_T

const size_t GZ_TWO_SIZE_T = 2u

static

size_t type with a value of 2

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

◆ GZ_ZERO_SIZE_T

const size_t GZ_ZERO_SIZE_T = 0u

static

size_t type with a value of 0

Referenced by Matrix6< T >::operator()(), 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< Precision >::operator[](), and Matrix3< T >::Set().

◆ IGN_EIGHT_SIZE_T

constexpr auto IGN_EIGHT_SIZE_T = &GZ_EIGHT_SIZE_T

constexpr

◆ IGN_FIVE_SIZE_T

constexpr auto IGN_FIVE_SIZE_T = &GZ_FIVE_SIZE_T

constexpr

◆ IGN_FOUR_SIZE_T

constexpr auto IGN_FOUR_SIZE_T = &GZ_FOUR_SIZE_T

constexpr

◆ IGN_NINE_SIZE_T

constexpr auto IGN_NINE_SIZE_T = &GZ_NINE_SIZE_T

constexpr

◆ IGN_ONE_SIZE_T

constexpr auto IGN_ONE_SIZE_T = &GZ_ONE_SIZE_T

constexpr

◆ IGN_SEVEN_SIZE_T

constexpr auto IGN_SEVEN_SIZE_T = &GZ_SEVEN_SIZE_T

constexpr

◆ IGN_SIX_SIZE_T

constexpr auto IGN_SIX_SIZE_T = &GZ_SIX_SIZE_T

constexpr

◆ IGN_THREE_SIZE_T

constexpr auto IGN_THREE_SIZE_T = &GZ_THREE_SIZE_T

constexpr

◆ IGN_TWO_SIZE_T

constexpr auto IGN_TWO_SIZE_T = &GZ_TWO_SIZE_T

constexpr

◆ IGN_ZERO_SIZE_T

constexpr auto IGN_ZERO_SIZE_T = &GZ_ZERO_SIZE_T

constexpr

◆ 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

Referenced by gz::math::eigen3::verticesToOrientedBox().

◆ 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 GZ_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 GZ_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 GZ_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 GZ_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 GZ_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 GZ_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 gz::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

◆ 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< Precision >::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 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)

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ AdditivelySeparableScalarField3d

◆ AdditivelySeparableScalarField3f

◆ Boxd

◆ Boxf

◆ Boxi

◆ Capsuled

◆ Capsulef

◆ Capsulei

◆ clock

◆ Cylinderd

◆ Cylinderf

◆ Cylinderi

◆ days

◆ Ellipsoidd

◆ Ellipsoidf

◆ Ellipsoidi

◆ GeneratorType

◆ Inertiald

◆ Inertialf

◆ InMemoryTimeVaryingVolumetricGrid

◆ IntersectionPoints

◆ Intervald

◆ Intervalf

◆ Line2d

◆ Line2f

◆ Line2i

◆ Line3d

◆ Line3f

◆ Line3i

◆ MassMatrix3d

◆ MassMatrix3f

◆ Matrix3d

◆ Matrix3f

◆ Matrix3i

◆ Matrix4d

◆ Matrix4f

◆ Matrix4i

◆ Matrix6d

◆ Matrix6f

◆ Matrix6i

◆ MovingWindowFilterd

◆ MovingWindowFilterf

◆ MovingWindowFilteri

◆ MovingWindowFilterVector3d

◆ MovingWindowFilterVector3f

◆ MovingWindowFilterVector3i

◆ NormalRealDist

◆ OrientedBoxd

◆ OrientedBoxf

◆ PairInput

◆ PairOutput

◆ PiecewiseScalarField3d

◆ PiecewiseScalarField3f

◆ Planed

◆ Planef

◆ Planei

◆ Polynomial3d

◆ Polynomial3f

◆ Pose3d

◆ Pose3f

◆ Quaterniond

◆ Quaternionf

◆ Region3d

◆ Region3f

◆ Sphered

◆ Spheref

◆ Spherei

◆ Triangle3d

◆ Triangle3f

◆ Triangle3i

◆ Triangled

◆ Trianglef