simple_math.h File Reference

#include <iostream>
#include <string.h>
#include <algorithm>
#include <stdarg.h>
#include <cmath>

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Namespaces
namespace	pangolin
Functions
template<typename P >
void	pangolin::CrossProduct (P c[3], const P a[3], const P b[3])
template<typename P >
void	pangolin::EnforceUpT_cw (P T_cw_4x4[4 *4], const P up_w[3])
template<typename P >
void	pangolin::EnforceUpT_wc (P T_wc[3 *4], const P up_w[3])
template<int R, typename P >
P	pangolin::Length (P v[R])
template<typename P >
void	pangolin::LieApplySE3vec (P x_b[3], const P T_ba[3 *4], const P x_a[3])
template<typename P >
void	pangolin::LieApplySO3 (P out[3], const P R_ba[3 *3], const P in[3])
template<typename P >
void	pangolin::LieGetRotation (P R_ba[3 *3], const P T_ba[3 *4])
template<typename P >
void	pangolin::LieInverseSE3 (P T_ab[3 *4], const P T_ba[3 *4])
template<typename P >
void	pangolin::LieMul4x4bySE3 (P T_ca[4 *4], const P T_cb[3 *4], const P T_ba[4 *4])
template<typename P >
void	pangolin::LieMulSE3 (P T_ca[3 *4], const P T_cb[3 *4], const P T_ba[3 *4])
template<typename P >
void	pangolin::LieMulSO3 (P R_ca[3 *3], const P R_cb[3 *3], const P R_ba[3 *3])
template<typename P >
void	pangolin::LiePutSE3in4x4 (P out[4 *4], const P in[3 *4])
template<typename P >
void	pangolin::LieSE3from4x4 (P out[3 *4], const P in[4 *4])
template<typename P >
void	pangolin::LieSetIdentity (P T_ba[3 *4])
template<typename P >
void	pangolin::LieSetRotation (P T_ba[3 *4], const P R_ba[3 *3])
template<typename P >
void	pangolin::LieSetSE3 (P T_ba[3 *4], const P R_ba[3 *3], const P a_b[3])
template<typename P >
void	pangolin::LieSetTranslation (P T_ba[3 *4], const P a_b[3 *3])
template<typename P >
void	pangolin::LieTransposeSO3 (P R_ab[3 *3], const P R_ba[3 *3])
template<int R, int C, typename P >
void	pangolin::MatAdd (P m[R *C], const P m1[R *C], const P m2[R *C])
template<int R, int M, int C, typename P >
void	pangolin::MatMul (P mo[R *C], const P m1[R *M], const P m2[M *C])
template<int R, int M, int C, typename P >
void	pangolin::MatMul (P mo[R *C], const P m1[R *M], const P m2[M *C], P s)
template<int R, int C, typename P >
void	pangolin::MatMul (P m[R *C], const P m1[R *C], P scalar)
template<int R, int C, typename P >
void	pangolin::MatMul (P m[R *C], P scalar)
template<int R, int M, int C, typename P >
void	pangolin::MatMulTranspose (P mo[R *C], const P m1[R *M], const P m2[C *M])
template<int N, typename P >
void	pangolin::MatOrtho (P m[N *N])
template<int R, int C, typename P >
void	pangolin::MatPrint (const P m[R *C])
template<int R, int C, typename P >
void	pangolin::MatPrint (const P m[R *C], std::string name)
template<int R, int C, typename P >
void	pangolin::MatSet (P m[R *C],...)
template<typename P >
void	pangolin::MatSkew (P s[3 *3], const P v[3])
template<int R, int C, typename P >
void	pangolin::MatSub (P m[R *C], const P m1[R *C], const P m2[R *C])
template<int N, typename P >
void	pangolin::MatTranspose (P out[N *N], const P in[N *N])
template<int N, typename P >
void	pangolin::MatTranspose (P m[N *N])
template<int R, typename P >
void	pangolin::Normalise (P v[R])
template<typename P >
void	pangolin::Rotation (P R[3 *3], P x, P y, P z)
template<int N, typename P >
void	pangolin::SetIdentity (P m[N *N])
template<int R, int C, typename P >
void	pangolin::SetZero (P m[R *C])
Variables
static const double	pangolin::Identity3d [] = {1,0,0, 0,1,0, 0,0,1}
static const float	pangolin::Identity3f [] = {1,0,0, 0,1,0, 0,0,1}
static const double	pangolin::Identity4d [] = {1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1}
static const float	pangolin::Identity4f [] = {1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1}
static const double	pangolin::Zero3d [] = {0,0,0, 0,0,0, 0,0,0}
static const float	pangolin::Zero3f [] = {0,0,0, 0,0,0, 0,0,0}
static const double	pangolin::Zero4d [] = {0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0}
static const float	pangolin::Zero4f [] = {0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0}