math/math2.h File Reference

#include "debug/debug.h"
#include <math.h>

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Namespaces
namespace	math
Defines
#define	MATH2_H_   1
#define	M_PI   3.14159265359
#define	ROUNDING_ERROR   (1e-5)
#define	IsZero(x)   (fabs(x)<ROUNDING_ERROR)
Functions
template<class T>
bool	Between (const T value, const T left, const T right)
double	Clamp (const double value, const double min, const double max)
double	CosDeg (const double value)
template<class T>
T	Max (const T a, const T b)
double	Max (const double a, const double b, const double c)
double	Max (const double a, const double b, const double c, const double d)
double	Max (const double a, const double b, const double c, const double d, const double e)
template<class T>
T	Min (const T a, const T b)
double	Min (const double a, const double b, const double c)
double	Min (const double a, const double b, const double c, const double d)
double	MinMag (const double a, const double b)
double	MinMag (const double a, const double b, const double c)
template<class T>
T	OddOneOut (const T a, const T b, const T c)
int	Pow (const int a, const int b)
double	Rad2Deg (const double radians)
double	Deg2Rad (const double degrees)
double	RandNorm (const double mean, const double standard_devation)
double	SinDeg (const double value)
double	Sqr (const double a)
int	TwoToThePower (const int power)
template<class T>
T	math::Max (const T a, const T b)
template<class T>
T	math::Min (const T a, const T b)

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Define Documentation

#define IsZero (  x   )     (fabs(x)<ROUNDING_ERROR)

Definition at line 16 of file math2.h. Referenced by PL_ATACE::GetNextPose(), and CPassive::ResolveJoints().

#define M_PI   3.14159265359

Definition at line 12 of file math2.h. Referenced by CosDeg(), Deg2Rad(), IK_ACA::FindJointAdjust(), Rad2Deg(), CPassive::ResolveJoints(), SinDeg(), and CPassive::Solution().

#define MATH2_H_   1

Definition at line 5 of file math2.h.

#define ROUNDING_ERROR   (1e-5)

Definition at line 15 of file math2.h. Referenced by IK_Jacobian::ComputeEndEffVel(), and CPassive::Solution().

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Function Documentation

template<class T> bool Between (  const T  value, const T  left, const T  right )

Definition at line 42 of file math2.h. References math::Max(), and math::Min(). Referenced by MPK::Segment::IsInterfering(). Here is the call graph for this function:

double Clamp (  const double  value, const double  min, const double  max )

Definition at line 9 of file math2.cpp. Referenced by PL_Neural::ClampToJointLimits().

double CosDeg (  const double  value  )

Definition at line 17 of file math2.cpp. References M_PI. Referenced by DH_Link::GetFrame(), Matrix4x4::Rotate(), Matrix4x4::Rotate2(), and DH_Link::UpdateFrames().

double Deg2Rad (  const double  degrees  )

Definition at line 32 of file math2.cpp. References M_PI. Referenced by IK_InvKinBase::GetTransformFrame(), and PL_ATACE::InterpolatePath().

double Max (  const double  a, const double  b, const double  c, const double  d, const double  e )

Definition at line 67 of file math2.cpp. References Max(). Here is the call graph for this function:

double Max (  const double  a, const double  b, const double  c, const double  d )

Definition at line 62 of file math2.cpp. References Max(). Here is the call graph for this function:

double Max (  const double  a, const double  b, const double  c )

Definition at line 57 of file math2.cpp. References Max(). Here is the call graph for this function:

template<class T> T Max (  const T  a, const T  b )  [inline]

Definition at line 52 of file math2.h.

double Min (  const double  a, const double  b, const double  c, const double  d )

Definition at line 77 of file math2.cpp. References Min(). Here is the call graph for this function:

double Min (  const double  a, const double  b, const double  c )

Definition at line 72 of file math2.cpp. References Min(). Here is the call graph for this function:

template<class T> T Min (  const T  a, const T  b )  [inline]

Definition at line 59 of file math2.h.

double MinMag (  const double  a, const double  b, const double  c )

Definition at line 116 of file math2.cpp. References MinMag(). Here is the call graph for this function:

double MinMag (  const double  a, const double  b )

Definition at line 106 of file math2.cpp.

template<class T> T OddOneOut (  const T  a, const T  b, const T  c )

Definition at line 67 of file math2.h. References IJG_Assert. Referenced by Graph::GraphBase::GetNeighbors().

int Pow (  const int  a, const int  b )

Definition at line 121 of file math2.cpp. References IJG_Assert.

double Rad2Deg (  const double  radians  )

Definition at line 27 of file math2.cpp. References M_PI. Referenced by PL_RRT_ClosedChain::AdjustConfiguration(), PL_ForTest::AdjustConfiguration(), PL_MPEP::AdjustConfiguration(), IK_ACA::FindJointAdjust(), PL_ForTest::FindLocalPath(), PL_ATACE::GetNextPose(), CRedundant::GetRandomConfiguration(), PL_PRM_ClosedChain::GetRotAngles(), PL_RGD_PRM::GetRotAngles(), IK_InvKinBase::GetRotAngles(), CPassive::Inverse(), PL_PRM_ClosedJacobian::MakeItClosed(), VrmlRotation::Parse(), and CPassive::ResolveJoints().

double RandNorm (  const double  mean, const double  standard_devation )

Definition at line 133 of file math2.cpp. Referenced by PL_GraphBase::GenerateRandomConfig().

double SinDeg (  const double  value  )

Definition at line 22 of file math2.cpp. References M_PI. Referenced by DH_Link::GetFrame(), Matrix4x4::Rotate(), Matrix4x4::Rotate2(), and DH_Link::UpdateFrames().

double Sqr (  const double  a  )

Definition at line 150 of file math2.cpp. Referenced by LocalPlannerClosed::Distance(), PL_MPEP::Distance(), PL_GraphBase::Distance(), PL_MPEP::DistanceInActiveJoints(), PL_PRM_ClosedChain::GetRotAngles(), PL_RGD_PRM::GetRotAngles(), IK_InvKinBase::GetRotAngles(), and Mesh::IsInterfering().

int TwoToThePower (  const int  power  )

Definition at line 155 of file math2.cpp. References IJG_Assert.

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