ecl_geometry Documentation

### ecl_geometry: Geometry tools and functions

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

## 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

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;
// 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.

## ChangeLog

ecl_geometry
Author(s): Daniel Stonier (d.stonier@gmail.com)
autogenerated on Thu Jan 2 2014 11:13:11