#include <MathFunctions.h>
Public Member Functions | |
| MathFunctions () | |
| ~MathFunctions () | |
Static Public Member Functions | |
| static double | angleDistance (const double _f1, const double _f2) |
| static double | capToPI (const double value) |
| template<typename Flt > | |
| static void | capToPI (std::vector< Flt > &v) |
| static bool | equalFloats (const std::vector< float > &first, const std::vector< float > &second, float tolerance) |
| static bool | equalFlt (float first, float second, float tolerance) |
| static Eigen::Quaterniond | getRotationFromTo (const Eigen::Quaterniond &q1, const Eigen::Quaterniond &q2) |
| static double | limitsToTwoPI (const double value, const double lowLimit, const double highLimit) |
| static double | quatAngularDistance (const geometry_msgs::Quaternion &_q1, const geometry_msgs::Quaternion &_q2) |
| static double | quatAngularDistance (const Eigen::Quaterniond &_q1, const Eigen::Quaterniond &_q2) |
| static double | vecAngularDistance (const Eigen::Vector3d &_v1, const Eigen::Vector3d &_v2) |
A collection of helper math functions
Definition at line 15 of file MathFunctions.h.
Definition at line 21 of file MathFunctions.h.
Definition at line 23 of file MathFunctions.h.
| double MathFunctions::angleDistance | ( | const double | _f1, |
| const double | _f2 | ||
| ) | [static] |
Returns shortest distace between two angles (in rad), specifically when going from _f2 to _f1
Definition at line 39 of file MathFunctions.cpp.
| double MathFunctions::capToPI | ( | const double | value | ) | [static] |
enforces the bound of the angle to be between -PI and PI this is a useful helper for lots of places because the native jaco joint angles may go beyond PI.
Definition at line 7 of file MathFunctions.cpp.
| static void convenience_math_functions::MathFunctions::capToPI | ( | std::vector< Flt > & | v | ) | [inline, static] |
Definition at line 35 of file MathFunctions.h.
| bool MathFunctions::equalFloats | ( | const std::vector< float > & | first, |
| const std::vector< float > & | second, | ||
| float | tolerance | ||
| ) | [static] |
equalFlt(float, float, float) returns true for all in vector
Definition at line 89 of file MathFunctions.cpp.
| bool MathFunctions::equalFlt | ( | float | first, |
| float | second, | ||
| float | tolerance | ||
| ) | [static] |
Definition at line 84 of file MathFunctions.cpp.
| Eigen::Quaterniond MathFunctions::getRotationFromTo | ( | const Eigen::Quaterniond & | q1, |
| const Eigen::Quaterniond & | q2 | ||
| ) | [static] |
Definition at line 31 of file MathFunctions.cpp.
| double MathFunctions::limitsToTwoPI | ( | const double | value, |
| const double | lowLimit, | ||
| const double | highLimit | ||
| ) | [static] |
Transforms a value between -PI and PI to a value between -2*PI and +2*PI such that the joint limits are respected. It is assumed all values i have to be between between lower bound l and higher bound h, and always l <= i <= h. So e.g. l=-3.9 .. h=0.8 instead of l=2.38 .. h=0.8. So lowLimit can *always* be smaller than highlimit, and there never is a jump from PI to -PI or the other way round.
Definition at line 22 of file MathFunctions.cpp.
| double MathFunctions::quatAngularDistance | ( | const geometry_msgs::Quaternion & | _q1, |
| const geometry_msgs::Quaternion & | _q2 | ||
| ) | [static] |
Definition at line 55 of file MathFunctions.cpp.
| double MathFunctions::quatAngularDistance | ( | const Eigen::Quaterniond & | _q1, |
| const Eigen::Quaterniond & | _q2 | ||
| ) | [static] |
Definition at line 64 of file MathFunctions.cpp.
| double MathFunctions::vecAngularDistance | ( | const Eigen::Vector3d & | _v1, |
| const Eigen::Vector3d & | _v2 | ||
| ) | [static] |
Definition at line 74 of file MathFunctions.cpp.