ecl_geometry Documentation

ecl_geometry

Any tools relating to mathematical geometry. Primarily featuring polynomials and interpolations.

• Homepage: http://wiki.ros.org/ecl_geometry

packageSummary

This group includes various structures and tools used in geometry as well as various supporting classes and utilities.

External Components

There are quite a few useful tools also in eigen's geometry module. You can get access to these via the ecl_linear_algebra module.

• angle-axis pairs
• quaternions
• rotation matrices
• transforms

CompilingLinking

Include the following at the top of any translation unit which requires this library:

        #include <ecl/geometry.hpp>

        // Angles
        using ecl::Angle;
        using ecl::wrap_angle;
        using ecl::degrees_to_radians;
        using ecl::radians_to_degrees;
        // Other Objects
        using ecl::CartesianPoint;
        using ecl::PascalsTriangle;
        // Functions that act on functions
        using ecl::Minimum;
        using ecl::Maximum;
        // Functions
        using ecl::Polynomial; // Also has some typedefs, LinearFunction, CubicPolynomial, QuadraticPoly...
        using ecl::TensionFunction;
        // Splines
        using ecl::SmoothLinearSpline;
        using ecl::CubicSpline;
        using ecl::TensionSpline;
        // Transforms
        using ecl::Pose2D;

You will also need to link to -lecl_geometry.

Usage

Refer to the class api/guide for each component.

• Angles - c++ style wrapper for angles (radians) and unit conversions (deg<->rad).
• Cartesian Points - generic and specialised representations for cartesian points.
• Pose2D - extends eigen's geometry transforms with a 2d specialised version.
• Polynomials - polynomial functions and two-point interpolations.
• Splines - generating various splines and interpolating over a set of data.

unitTests

• src/test/angles.cpp
• src/test/cartesian_points.cpp
• src/test/cubic_splines.cpp
• src/test/polynomials.cpp
• src/test/smooth_linear_splines.cpp
• src/test/tension_function.cpp
• src/test/tension_splines.cpp
• src/test/pose2d.cpp

ChangeLog

• Sep 10 : ecl::Pose2D transform established, very much eigen style.
• Jul 10 : ecl::Angle is finalised with float/double versions and a functional api to assist.
• Jul 09 : ecl::BluePrintFactory<LinearFunction> is a blueprint factory for linear functions.
• Jul 09 : ecl::blueprints::LinearInterpolation is a blueprint for linear interpolation between end points.
  • Jul 09 : ecl::SmoothLinearSpline is a a smoothed, linearly blend spline (with quintics).
• May 09 : ecl::blueprints::QuinticInterpolation is a blueprint for quintic interpolation between end points.
• May 09 : ecl::BluePrintFactory<QuinticPolynomial> is a blueprint factory for quintic polynomials.
• May 09 : ecl::blueprints::CubicSecondDerivativeInterpolation is a blueprint for acceleration derived interpolations between two end points.
• May 09 : ecl::blueprints::CubicDerivativeInterpolation is a blueprint for velocity derived interpolations between two end points.
• May 09 : ecl::BluePrintFactory<CubicPolynomial> is a blueprint factory for cubic polynomials.
• May 09 : ecl::Polynomial is a templatised class representing polynomials of arbitrary degree.
• May 09 : A simple templatisation for pascals triangle of arbitrary degree.
  • May 09 : ecl::blueprints::C2TensionSpline is a c2 continuous tension spline interpolation.
  • May 09 : ecl::TensionSpline is a representation for a tension spline.
  • May 09 : ecl::TensionFunction is a representation for a tension function.
  • May 09 : ecl::blueprints::C2CubicSpline is a special case of the C2CubicSpline, the natural cubic spline.
  • May 09 : ecl::blueprints::C2CubicSpline is a blueprint for C2 continous splines over a set of data.
  • May 09 : ecl::blueprints::DerivativeHeuristicCubicSpline uses an automated velocity based heuristic to generate a cubic spline on a data set.
  • May 09 : ecl::BluePrintFactory<CubicSpline> is a blueprint factory for cubic splines.
  • May 09 : ecl::CubicSpline is a typedef'd representation for a cubic spline.