Helper functions and constants require for mathematical operations. More...

Functions
Eigen::VectorXd	toVector (double x)
	Converts a single double value into a 1 x 1 matrix. More...

Eigen::MatrixXd	toMatrix (const std::vector< Eigen::VectorXd > &vlist)
	Converts a vector of lists into a Matrix. More...

Eigen::VectorXd	toVector (const std::initializer_list< double > &x)
	Converts an initialize list into a vector. More...

double	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	clamp (double v, double a, double b)
	Clamp a value v between a range [a, b]. More...

double	angleDistance (double v1, double v2)
	Return the minimum distance between two angles (wrapping from -pi to pi). More...

double	angleNormalize (double v)
	Normalize an angle between -pi to pi. More...

double	toDegrees (double v)
	Convert an angle to degrees. More...

double	toRadians (double v)
	Convert an angle to radians. More...

double	uniformReal (double lower, double upper)
	Return a uniform random number between lower and upper. More...

int	uniformInteger (int lower, int upper)
	Return a uniform random integer between lower and upper (inclusive). More...

double	gaussianReal (double mean, double std)
	Return a random number sampled from a gaussain with given std and mean. More...

Variables
static ompl::RNG	rng
	Random number generation from OMPL. An instance of this class cannot be used by multiple threads at once. More...

static const double	pi = boost::math::constants::pi<double>()

static const double	pipi = 2. * pi

static const double	pi2 = pi / 2.

static const double	eps = std::numeric_limits<double>::epsilon()

static const double	inf = std::numeric_limits<double>::infinity()

static const double	nan = std::numeric_limits<double>::quiet_NaN()

Detailed Description

Helper functions and constants require for mathematical operations.

Function Documentation

◆ angleDistance()

double se2ez::math::angleDistance	(	double	v1,
		double	v2
	)

Return the minimum distance between two angles (wrapping from -pi to pi).

Parameters

[in]	v1	First angle.
[in]	v2	Second angle.

Returns: The distance between angles.

Definition at line 184 of file math.cpp.

◆ angleNormalize()

double se2ez::math::angleNormalize ( double v )

Normalize an angle between -pi to pi.

Parameters

[in] v The angle.

Returns: The normalized angle.

Definition at line 189 of file math.cpp.

◆ clamp()

double se2ez::math::clamp	(	double	v,
		double	a,
		double	b
	)

Clamp a value v between a range [a, b].

Parameters

[in]	v	Value to clamp.
[in]	a	Lower bound.
[in]	b	Upper bound.

Returns: The clamped value.

Definition at line 179 of file math.cpp.

◆ gaussianReal()

double se2ez::math::gaussianReal	(	double	mean,
		double	std
	)

Return a random number sampled from a gaussain with given std and mean.

Parameters

[in]	mean	The mean of the gaussian.
[in]	std	The standard deviation of the gaussian.

Returns: random number sampled from gaussian

Definition at line 236 of file math.cpp.

◆ remap()

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.

Parameters

[in]	a1	Lower end of first interval.
[in]	a2	Upper end of first interval.
[in]	av	Value in first interval.
[in]	b1	Lower end of second interval.
[in]	b2	Upper end of second interval.

Returns: The remapped value in the second interval.

Definition at line 160 of file math.cpp.

◆ toDegrees()

double se2ez::math::toDegrees ( double v )

Convert an angle to degrees.

Parameters

[in] v The angle in radians.

Returns: The angle in degrees.

Definition at line 194 of file math.cpp.

◆ toMatrix()

Eigen::MatrixXd se2ez::math::toMatrix ( const std::vector< Eigen::VectorXd > & vlist )

Converts a vector of lists into a Matrix.

Parameters

[in] vlist vector of lists to convert.

Returns: a matrix with the values of the Eigen vectors.

Definition at line 150 of file math.cpp.

◆ toRadians()

double se2ez::math::toRadians ( double v )

Convert an angle to radians.

Parameters

[in] v The angle in degrees.

Returns: The angle in radians.

Definition at line 204 of file math.cpp.

◆ toVector() [1/2]

Eigen::VectorXd se2ez::math::toVector ( double x )

Converts a single double value into a 1 x 1 matrix.

Parameters

[in] x Value to convert.

Returns: a 1-dimensional vector with x as the value.

Definition at line 134 of file math.cpp.

◆ toVector() [2/2]

Eigen::VectorXd se2ez::math::toVector ( const std::initializer_list< double > & x )

Converts an initialize list into a vector.

Parameters

[in] x Values to convert.

Returns: a vector with the values of the list.

Definition at line 139 of file math.cpp.

◆ uniformInteger()

int se2ez::math::uniformInteger	(	int	lower,
		int	upper
	)

Return a uniform random integer between lower and upper (inclusive).

Parameters

[in]	lower	Lower bound
[in]	upper	Upper bound

Returns: random number between lower and upper

Definition at line 228 of file math.cpp.

◆ uniformReal()

double se2ez::math::uniformReal	(	double	lower,
		double	upper
	)

Return a uniform random number between lower and upper.

Parameters

[in]	lower	Lower bound.
[in]	upper	Upper bound.

Returns: random number between lower and upper

Definition at line 217 of file math.cpp.

Variable Documentation

◆ eps

const double se2ez::math::eps = std::numeric_limits<double>::epsilon()

static

Definition at line 36 of file math.h.

◆ inf

const double se2ez::math::inf = std::numeric_limits<double>::infinity()

static

Definition at line 37 of file math.h.

◆ nan

const double se2ez::math::nan = std::numeric_limits<double>::quiet_NaN()

static

Definition at line 38 of file math.h.

◆ pi

const double se2ez::math::pi = boost::math::constants::pi<double>()

static

Definition at line 32 of file math.h.

◆ pi2

const double se2ez::math::pi2 = pi / 2.

static

Definition at line 34 of file math.h.

◆ pipi

const double se2ez::math::pipi = 2. * pi

static

Definition at line 33 of file math.h.

◆ rng

ompl::RNG se2ez::math::rng

static

Random number generation from OMPL. An instance of this class cannot be used by multiple threads at once.

Definition at line 30 of file math.h.

Functions

Variables

Detailed Description

Function Documentation

◆ angleDistance()

◆ angleNormalize()

◆ clamp()

◆ gaussianReal()

◆ remap()

◆ toDegrees()

◆ toMatrix()

◆ toRadians()

◆ toVector() [1/2]

◆ toVector() [2/2]

◆ uniformInteger()

◆ uniformReal()

Variable Documentation

◆ eps

◆ inf

◆ nan

◆ pi

◆ pi2

◆ pipi

◆ rng