robot_model_services::MathHelper Class Reference

MathHelper unites the generally needed math operations. More...

#include <MathHelper.hpp>

List of all members.

Static Public Member Functions
static SimpleSphereCoordinates	convertC2S (const SimpleVector3 &cartesian)
	converts cartesian coordinates to sphere coordinates
static void	convertC2S (const SimpleVector3 &cartesian, SimpleSphereCoordinates &sphere)
	converts cartesian coordinates to sphere coordinates (lightweight)
static SimpleVector3	convertS2C (const SimpleSphereCoordinates &sphere)
	converts sphere coordinates to cartesian coordinates (lightweight)
static void	convertS2C (const SimpleSphereCoordinates &sphere, SimpleVector3 &cartesian)
	converts sphere coordinates to cartesian coordinates (lightweight)
static double	degToRad (double input)
template<typename PowerSet >
static boost::shared_ptr < PowerSet >	filterCardinalityPowerSet (const boost::shared_ptr< PowerSet > &powerSetPtr, const std::size_t min, const std::size_t max)
template<typename PowerSet >
static boost::shared_ptr < PowerSet >	filterCardinalityPowerSet (const boost::shared_ptr< PowerSet > &setPtr, const std::size_t min)
static Precision	getAngle (const SimpleVector3 &X, const SimpleVector3 &Y)
static Precision	getCosinus (const SimpleVector3 &X, const SimpleVector3 &Y)
static double	getDotProduct (SimpleVector3 v1, SimpleVector3 v2)
static Precision	getMinimumAngleDifference (const Precision &firstAngle, const Precision &secondAngle)
static SimpleQuaternionCollectionPtr	getOrientationsOnUnitSphere (const int &numberOfPoints)
static SimpleVector3	getProjection (const std::size_t &idx, const SimpleVector3 &X)
static SimpleQuaternion	getQuaternionByAngles (const Precision &heading, const Precision &attitude, const Precision &bank)
static int	getRandomInteger (const int &min, const int &max)
static Precision	getRandomNumber (const Precision &mean, const Precision &standardDeviation)
static SimpleQuaternion	getRandomQuaternion ()
static SimpleVectorX	getRandomVector (const SimpleVectorX &mean, const SimpleVectorX &standardDeviation)
static double	getSignum (const double &value)
static SimpleVector3	getVisualAxis (const SimpleQuaternion &orientation)
static void	getVisualAxis (const SimpleQuaternion &orientation, SimpleVector3 &resultAxis)
template<typename Set >
static boost::shared_ptr < std::set< boost::shared_ptr < Set > > >	powerSet (const boost::shared_ptr< Set > &setPtr)
template<typename Set >
static void	printPowerSet (boost::shared_ptr< std::set< boost::shared_ptr< Set > > > &powerSetPtr)
template<typename Set >
static void	printSet (boost::shared_ptr< Set > &setPtr)
static double	radToDeg (double input)
Static Private Member Functions
static boost::mt19937 &	getRandomnessGenerator ()

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Detailed Description

MathHelper unites the generally needed math operations.

Author:

Ralf Schleicher

Date:

2014

Version:

1.0

Copyright:

GNU Public License

Definition at line 44 of file MathHelper.hpp.

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Member Function Documentation

SimpleSphereCoordinates robot_model_services::MathHelper::convertC2S

(

const SimpleVector3 &

cartesian

)

[static]

converts cartesian coordinates to sphere coordinates

Parameters:

cartestian

any cartesian coordinates

Returns:

sphere coordinates (radius,inclinate,azimuth)

Definition at line 29 of file MathHelper.cpp.

void robot_model_services::MathHelper::convertC2S	(	const SimpleVector3 &	cartesian,
		SimpleSphereCoordinates &	sphere
	)		[static]

converts cartesian coordinates to sphere coordinates (lightweight)

Parameters:

cartestian	any cartesian coordinates
sphere	(out) sphere coordinates (radius,inclinate,azimuth)

Definition at line 35 of file MathHelper.cpp.

SimpleVector3 robot_model_services::MathHelper::convertS2C

(

const SimpleSphereCoordinates &

sphere

)

[static]

converts sphere coordinates to cartesian coordinates (lightweight)

Parameters:

sphere

any sphere coordinates (radius,inclinate,azimuth)

Returns:

cartesian coordinates

Definition at line 41 of file MathHelper.cpp.

void robot_model_services::MathHelper::convertS2C	(	const SimpleSphereCoordinates &	sphere,
		SimpleVector3 &	cartesian
	)		[static]

converts sphere coordinates to cartesian coordinates (lightweight)

Parameters:

sphere	any sphere coordinates (radius,inclinate,azimuth)
cartesian	(out) cartesian coordinates

Definition at line 47 of file MathHelper.cpp.

double robot_model_services::MathHelper::degToRad

(

double

input

)

[static]

Parameters:

input

in degrees

Returns:

input in radians

Definition at line 172 of file MathHelper.cpp.

template<typename PowerSet >

static boost::shared_ptr<PowerSet> robot_model_services::MathHelper::filterCardinalityPowerSet	(	const boost::shared_ptr< PowerSet > &	powerSetPtr,
		const std::size_t	min,
		const std::size_t	max
	)		[inline, static]

Definition at line 214 of file MathHelper.hpp.

template<typename PowerSet >

static boost::shared_ptr<PowerSet> robot_model_services::MathHelper::filterCardinalityPowerSet	(	const boost::shared_ptr< PowerSet > &	setPtr,
		const std::size_t	min
	)		[inline, static]

Definition at line 228 of file MathHelper.hpp.

Precision robot_model_services::MathHelper::getAngle	(	const SimpleVector3 &	X,
		const SimpleVector3 &	Y
	)		[static]

Parameters:

X	[in] the first 3d vector
Y	[in] the second 3d vector

Returns:

the angle between the two vectors

Definition at line 81 of file MathHelper.cpp.

Precision robot_model_services::MathHelper::getCosinus	(	const SimpleVector3 &	X,
		const SimpleVector3 &	Y
	)		[static]

Parameters:

X	[in] the first 3d vector
Y	[in] the second 3d vector

Returns:

the cosinus between the two vectors.

Definition at line 71 of file MathHelper.cpp.

double robot_model_services::MathHelper::getDotProduct	(	SimpleVector3	v1,
		SimpleVector3	v2
	)		[static]

Definition at line 176 of file MathHelper.cpp.

Precision robot_model_services::MathHelper::getMinimumAngleDifference	(	const Precision &	firstAngle,
		const Precision &	secondAngle
	)		[static]

Parameters:

firstAngle	[in] the first angle
secondAngle	[in] the second angle

Returns:

the minimum angle difference.

Definition at line 87 of file MathHelper.cpp.

SimpleQuaternionCollectionPtr robot_model_services::MathHelper::getOrientationsOnUnitSphere

(

const int &

numberOfPoints

)

[static]

Parameters:

numberOfPoints

[in] the number of points to use.

Returns:

an array of orientations.

Definition at line 136 of file MathHelper.cpp.

SimpleVector3 robot_model_services::MathHelper::getProjection	(	const std::size_t &	idx,
		const SimpleVector3 &	X
	)		[static]

Parameters:

idx	[in] the index to project to 0
X	[in] the 3d vector used for this action.

Returns:

the 3d vector after projection

Definition at line 67 of file MathHelper.cpp.

SimpleQuaternion robot_model_services::MathHelper::getQuaternionByAngles	(	const Precision &	heading,
		const Precision &	attitude,
		const Precision &	bank
	)		[static]

Parameters:

heading	[in] the heading angle
attitude	[in] the attitude angle
bank	[in] the bank angle

Returns:

the corresponding quaternion

Definition at line 118 of file MathHelper.cpp.

int robot_model_services::MathHelper::getRandomInteger	(	const int &	min,
		const int &	max
	)		[static]

Parameters:

min	[in] the minumum integer
max	[in] the maximum integer

Returns:

a random integer in the range [min, max]

Definition at line 92 of file MathHelper.cpp.

boost::mt19937 & robot_model_services::MathHelper::getRandomnessGenerator

(

)

[static, private]

Returns:

the randomness generator.

Definition at line 24 of file MathHelper.cpp.

Precision robot_model_services::MathHelper::getRandomNumber	(	const Precision &	mean,
		const Precision &	standardDeviation
	)		[static]

Parameters:

mean	[in] the mean value
standardDeviation	[in] the standard deviation to use.

Returns:

a normal distributed random number.

Definition at line 98 of file MathHelper.cpp.

SimpleQuaternion robot_model_services::MathHelper::getRandomQuaternion

(

)

[static]

Returns:

a random rotation quaternion

Definition at line 113 of file MathHelper.cpp.

SimpleVectorX robot_model_services::MathHelper::getRandomVector	(	const SimpleVectorX &	mean,
		const SimpleVectorX &	standardDeviation
	)		[static]

Parameters:

mean	[in] the mean value in X dimensions
standardDeviation	[in] the standard deviation to use in X dimensions.

Returns:

a normal distributed random vector.

Definition at line 104 of file MathHelper.cpp.

double robot_model_services::MathHelper::getSignum

(

const double &

value

)

[static]

Parameters:

value

[in]

Returns:

the signum of value

Definition at line 63 of file MathHelper.cpp.

SimpleVector3 robot_model_services::MathHelper::getVisualAxis

(

const SimpleQuaternion &

orientation

)

[static]

Definition at line 53 of file MathHelper.cpp.

void robot_model_services::MathHelper::getVisualAxis	(	const SimpleQuaternion &	orientation,
		SimpleVector3 &	resultAxis
	)		[static]

Definition at line 59 of file MathHelper.cpp.

template<typename Set >

static boost::shared_ptr<std::set<boost::shared_ptr<Set> > > robot_model_services::MathHelper::powerSet

(

const boost::shared_ptr< Set > &

setPtr

)

[inline, static]

Definition at line 188 of file MathHelper.hpp.

template<typename Set >

static void robot_model_services::MathHelper::printPowerSet

(

boost::shared_ptr< std::set< boost::shared_ptr< Set > > > &

powerSetPtr

)

[inline, static]

Definition at line 179 of file MathHelper.hpp.

template<typename Set >

static void robot_model_services::MathHelper::printSet

(

boost::shared_ptr< Set > &

setPtr

)

[inline, static]

Definition at line 171 of file MathHelper.hpp.

double robot_model_services::MathHelper::radToDeg

(

double

input

)

[static]

Parameters:

input

in radians

Returns:

input in degrees

Definition at line 168 of file MathHelper.cpp.

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The documentation for this class was generated from the following files:

• MathHelper.hpp
• MathHelper.cpp