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

#include <MathHelper.hpp>

Static Public Member Functions
static SimpleSphereCoordinates	convertC2S (const SimpleVector3 &cartesian)
	converts cartesian coordinates to sphere coordinates More...

static void	convertC2S (const SimpleVector3 &cartesian, SimpleSphereCoordinates &sphere)
	converts cartesian coordinates to sphere coordinates (lightweight) More...

static SimpleVector3	convertS2C (const SimpleSphereCoordinates &sphere)
	converts sphere coordinates to cartesian coordinates (lightweight) More...

static void	convertS2C (const SimpleSphereCoordinates &sphere, SimpleVector3 &cartesian)
	converts sphere coordinates to cartesian coordinates (lightweight) More...

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 ()

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.

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
	)

inlinestatic

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
	)

inlinestatic

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 ( )

staticprivate

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 )

inlinestatic

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 )

inlinestatic

Definition at line 179 of file MathHelper.hpp.

template<typename Set >

static void robot_model_services::MathHelper::printSet ( boost::shared_ptr< Set > & setPtr )

inlinestatic

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.

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

Static Public Member Functions

Static Private Member Functions

Detailed Description

Member Function Documentation