swri_math_util Namespace Reference

Classes
class	GenRingBuffer
class	Interpolation1D
class	RandomGenerator
class	Ransac
class	RansacBatch
class	StatBuffer

Typedefs
typedef boost::shared_ptr< RandomGenerator >	RandomGeneratorPtr

Functions
template<class RNG >
void	GetUniformRandomSample (RNG &rng, int32_t min, int32_t max, int32_t count, std::vector< int32_t > &sample)
bool	IsNear (double v1, double v2, double epsilon)
double	Round (double value)
double	ToDegrees (double radians)
double	ToNearest (double value, double multiple)
double	ToRadians (double degrees)
double	unWrapAngle (double static_angle, double variable_angle, double threshold=_pi)
double	UpToNearest (double value, double multiple)
double	WrapRadians (double angle, double center)

Variables
static const long double	_2pi = 6.28318530717958647692528676655900576L
static const long double	_deg_2_rad = 0.01745329251994329576923690768488612L
static const double	_feet_to_meters = 0.3048
static const long double	_half_pi = 1.57079632679489661923132169163975144L
static const double	_kph_to_mps = 0.2777777777777778
static const double	_mps_to_mph = 2.2369362920544025
static const long double	_pi = 3.1415926535897932384626433832795029L
static const long double	_rad_2_deg = 57.2957795130823208767981548141051703L
static const double	_yards_to_meters = 0.9144

Typedef Documentation

RandomGeneratorPtr

typedef boost::shared_ptr<RandomGenerator> swri_math_util::RandomGeneratorPtr

Definition at line 70 of file random.h.

Function Documentation

GetUniformRandomSample()

template<class RNG >

void swri_math_util::GetUniformRandomSample	(	RNG &	rng,
		int32_t	min,
		int32_t	max,
		int32_t	count,
		std::vector< int32_t > &	sample
	)

Gets a uniform random sample of integers without repeats for a given range.

The number of samples should be much smaller than the number of possible values in the range for optimal performance.

This function depends on a random number generator (RNG) being provided, which generally aren't thread safe. It is recommended that a multi-threaded application create a seperate RNGs for each thread.

param[in] rng The random number generator. param[in] min The minimum of the range (inclusive). param[in] max The maximum of the range (inclusive). param[in] count The sample size. param[out] sample The sample.

Definition at line 89 of file random.h.

IsNear()

bool swri_math_util::IsNear	(	double	v1,
		double	v2,
		double	epsilon
	)

Check if v1 is within +/- epsilon of v2

Parameters

[in]	v1	The first value.
[in]	v2	The second value.
[in]	epsilon	The tolerance.

Returns

True if v1 is near v2.

Definition at line 61 of file math_util.cpp.

Round()

double swri_math_util::Round

(

double

value

)

Round the value to the nearest integer.

Parameters

[in]	value	The number to round.
[in]	multiple	The multiple.

Returns

The rounded value.

Definition at line 36 of file math_util.cpp.

ToDegrees()

double swri_math_util::ToDegrees

(

double

radians

)

Convert degrees to radians.

Parameters

[in]

radians

Input angle.

Returns

The angle in degrees.

Definition at line 57 of file trig_util.cpp.

ToNearest()

double swri_math_util::ToNearest	(	double	value,
		double	multiple
	)

Round the value to the nearest provided multiple.

Parameters

[in]	value	The number to round.
[in]	multiple	The multiple.

Returns

The rounded value.

Definition at line 41 of file math_util.cpp.

ToRadians()

double swri_math_util::ToRadians

(

double

degrees

)

Convert radians to degrees.

Parameters

[in]

degrees

Input angle.

Returns

The angle in radians.

Definition at line 52 of file trig_util.cpp.

unWrapAngle()

double swri_math_util::unWrapAngle	(	double	static_angle,
		double	variable_angle,
		double	threshold = _pi
	)

Unwraps the variable_angle across 0-2pi or +/-pi boundaries to avoid large differences between the static and variable angles (when the difference may be small. For example a static angle of 2pi - epsilon and a variable angle of epsilon would result in the variable angle being unwrapped to 2pi + epsilon.

Parameters

[in]	static_angle	The reference angle
[in]	variable_angle	The angle to unwrap
[in]	threshold	A threshold on the angle (default is pi)

Return values

Returns

the resultant angle

Definition at line 66 of file math_util.cpp.

UpToNearest()

double swri_math_util::UpToNearest	(	double	value,
		double	multiple
	)

Round up the value to the nearest provided multiple.

Parameters

[in]	value	The number to round.
[in]	multiple	The multiple.

Returns

The rounded value.

Definition at line 51 of file math_util.cpp.

WrapRadians()

double swri_math_util::WrapRadians	(	double	angle,
		double	center
	)

Normalize an angle to be within a 2pi range centered at a given value.

Parameters

[in]

Definition at line 36 of file trig_util.cpp.

Variable Documentation

_2pi

const long double swri_math_util::_2pi = 6.28318530717958647692528676655900576L

static

Definition at line 37 of file constants.h.

_deg_2_rad

const long double swri_math_util::_deg_2_rad = 0.01745329251994329576923690768488612L

static

Definition at line 41 of file constants.h.

_feet_to_meters

const double swri_math_util::_feet_to_meters = 0.3048

static

Definition at line 49 of file constants.h.

_half_pi

const long double swri_math_util::_half_pi = 1.57079632679489661923132169163975144L

static

Definition at line 39 of file constants.h.

_kph_to_mps

const double swri_math_util::_kph_to_mps = 0.2777777777777778

static

Definition at line 45 of file constants.h.

_mps_to_mph

const double swri_math_util::_mps_to_mph = 2.2369362920544025

static

Definition at line 47 of file constants.h.

_pi

const long double swri_math_util::_pi = 3.1415926535897932384626433832795029L

static

Definition at line 35 of file constants.h.

_rad_2_deg

const long double swri_math_util::_rad_2_deg = 57.2957795130823208767981548141051703L

static

Definition at line 43 of file constants.h.

_yards_to_meters

const double swri_math_util::_yards_to_meters = 0.9144

static

Definition at line 51 of file constants.h.