math.h File Reference

#include <type_traits>
#include <vector>
#include <map>
#include <unordered_map>
#include <boost/math/constants/constants.hpp>
#include <ompl/util/RandomNumbers.h>
#include <Eigen/Geometry>
#include <Eigen/StdVector>
#include <kdl/jntarray.hpp>
#include <kdl/frames.hpp>

Go to the source code of this file.

Namespaces
	se2ez
	Main namespace.
	se2ez::math
	Helper functions and constants require for mathematical operations.
	se2ez::tf
	Helper functions for transform manipulation.

Typedefs
template<typename V >
using	se2ez::tf::EigenVector = std::vector< V, Eigen::aligned_allocator< V > >
	A template for a vector that stores Eigen objects. More...
template<typename K , typename V >
using	se2ez::tf::EigenMap = std::map< K, V, std::less< K >, Eigen::aligned_allocator< std::pair< const K, V > >>
	A template for a map that stores Eigen objects. More...
template<typename K , typename V >
using	se2ez::tf::EigenHash = std::unordered_map< K, V, std::hash< K >, std::equal_to< K >, Eigen::aligned_allocator< std::pair< const K, V > >>
	A template for an unordered map that stores Eigen objects. More...

Functions
Eigen::VectorXd	se2ez::math::toVector (double x)
	Converts a single double value into a 1 x 1 matrix. More...
Eigen::MatrixXd	se2ez::math::toMatrix (const std::vector< Eigen::VectorXd > &vlist)
	Converts a vector of lists into a Matrix. More...
Eigen::VectorXd	se2ez::math::toVector (const std::initializer_list< double > &x)
	Converts an initialize list into a vector. More...
double	se2ez::math::remap (double a1, double a2, double av, double b1, double b2)
	Remap a value av in the interval a1, a2 to the interval b1, b2. More...
double	se2ez::math::clamp (double v, double a, double b)
	Clamp a value v between a range [a, b]. More...
double	se2ez::math::angleDistance (double v1, double v2)
	Return the minimum distance between two angles (wrapping from -pi to pi). More...
double	se2ez::math::angleNormalize (double v)
	Normalize an angle between -pi to pi. More...
double	se2ez::math::toDegrees (double v)
	Convert an angle to degrees. More...
double	se2ez::math::toRadians (double v)
	Convert an angle to radians. More...
double	se2ez::math::uniformReal (double lower, double upper)
	Return a uniform random number between lower and upper. More...
int	se2ez::math::uniformInteger (int lower, int upper)
	Return a uniform random integer between lower and upper (inclusive). More...
double	se2ez::math::gaussianReal (double mean, double std)
	Return a random number sampled from a gaussain with given std and mean. More...
Eigen Isometry2d operations
Eigen::Isometry2d	se2ez::tf::toIsometry (double x, double y, double theta)
	Converts a translation (x, y) and rotation from X-axis (theta) into a transform. More...
double	se2ez::tf::getRotation (const Eigen::Isometry2d &frame)
	Gets rotation from a frame from the X-axis (t) More...
Eigen::Isometry2d	se2ez::tf::toIsometry (const Eigen::Vector3d &vec)
	Converts a vector [x, y, t] composed of a translation (x, y) and rotation from X-axis (t) into a transform. More...
double	se2ez::tf::transformDistance (const Eigen::Isometry2d &t1, const Eigen::Isometry2d &t2=Eigen::Isometry2d::Identity(), double alpha=0.75)
	Return the transform distance between two transformations, w is the weight of the euclidean distance, and (1-w) the weight of the rotational distance (wrapping from -pi to pi). More...
Eigen::Vector3d	se2ez::tf::flattenIsometry (const Eigen::Isometry2d &frame)
	Converts a transformation frame into a vector [x, y, t] composed of a translation (x, y) and rotation from X-axis(t). More...
KDL and Eigen Conversions
KDL::Frame	se2ez::tf::EigenToKDLFrame (const Eigen::Isometry2d &iso)
	Converts an Eigen transformation into a KDL transformation. More...
Eigen::Isometry2d	se2ez::tf::KDLToEigenFrame (const KDL::Frame &frame)
	Converts an KDL transformation into a Eigen transformation. More...
KDL::JntArray	se2ez::tf::EigenToKDLVec (const Eigen::VectorXd &vec)
	Converts an Eigen vector into a KDL vector. More...
Eigen::VectorXd	se2ez::tf::KDLToEigenVec (const KDL::JntArray &array)
	Converts an KDL vector into a Eigen vector. More...
Debug & Output
std::string	se2ez::tf::printFrame (const Eigen::Isometry2d &frame)
	Returns a string "[x, y, t]" of the translation (x, y) and rotation (t) component of a transform. More...
std::string	se2ez::tf::printFrame (const KDL::Frame &frame)
	Returns a string "[x, y, t]" of the translation (x, y) and rotation (t) component of a transform. More...
std::string	se2ez::tf::printVector (const Eigen::VectorXd &v, unsigned int precision=4)
	Returns a string of a vector's contents. More...
std::string	se2ez::tf::printMatrix (const Eigen::MatrixXd &v, unsigned int precision=4)
	Returns a string of a matrix's contents. More...

Variables
static ompl::RNG	se2ez::math::rng
	Random number generation from OMPL. An instance of this class cannot be used by multiple threads at once. More...
static const double	se2ez::math::pi = boost::math::constants::pi<double>()
static const double	se2ez::math::pipi = 2. * pi
static const double	se2ez::math::pi2 = pi / 2.
static const double	se2ez::math::eps = std::numeric_limits<double>::epsilon()
static const double	se2ez::math::inf = std::numeric_limits<double>::infinity()
static const double	se2ez::math::nan = std::numeric_limits<double>::quiet_NaN()