ecl_geometry

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

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

Embedded Control Library

    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

Compiling & Linking

    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.

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

Unit Tests

    - 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

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