#include <mrpt/config.h>
#include <cmath>
#include <string>
#include <mrpt/utils/mrpt_macros.h>
#include <cstdint>

Classes
struct	mrpt::utils::CProfilerProxy

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.

	mrpt::math
	This base provides a set of functions for maths stuff.

	mrpt::utils
	Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.

Macros
#define	M_PI 3.14159265358979323846

#define	DEG2RAD DEG2RAD

#define	RAD2DEG RAD2DEG

#define	SELBYTE0(v) (v & 0xff)

#define	SELBYTE1(v) ((v >> 8) & 0xff)

#define	SELBYTE2(v) ((v >> 16) & 0xff)

#define	SELBYTE3(v) ((v >> 24) & 0xff)

#define	MAKEWORD16B(__LOBYTE, __HILOBYTE) ((__LOBYTE) \| ((__HILOBYTE) << 8))

#define	MAKEWORD32B(__LOWORD16, __HIWORD16) ((__LOWORD16) \| ((__HIWORD16) << 16))

#define	MAKEWORD64B(__LOWORD32, __HIWORD32) ((__LOWORD32) \| ((__HIWORD32) << 32))

#define	DEG2RAD DEG2RAD

#define	RAD2DEG RAD2DEG

#define	SELBYTE0(v) (v & 0xff)

#define	SELBYTE1(v) ((v >> 8) & 0xff)

#define	SELBYTE2(v) ((v >> 16) & 0xff)

#define	SELBYTE3(v) ((v >> 24) & 0xff)

#define	MAKEWORD16B(__LOBYTE, __HILOBYTE) ((__LOBYTE) \| ((__HILOBYTE) << 8))

#define	MAKEWORD32B(__LOWORD16, __HIWORD16) ((__LOWORD16) \| ((__HIWORD16) << 16))

#define	MAKEWORD64B(__LOWORD32, __HIWORD32) ((__LOWORD32) \| ((__HIWORD32) << 32))

Functions
std::string	mrpt::format (const char *fmt,...) MRPT_printf_format_check(1
	A std::string version of C sprintf. More...

template<class MATRIXLIKE >
size_t	mrpt::math::size (const MATRIXLIKE &m, const int dim)

template<class T >
T	mrpt::math::square (const T x)
	Inline function for the square of a number. More...

template<class T >
T	mrpt::math::hypot_fast (const T x, const T y)
	Faster version of std::hypot(), to use when overflow is not an issue and we prefer fast code. More...

double	mrpt::utils::DEG2RAD (const double x)
	Degrees to radians. More...

float	mrpt::utils::DEG2RAD (const float x)
	Degrees to radians. More...

float	mrpt::utils::DEG2RAD (const int x)
	Degrees to radians. More...

double	mrpt::utils::RAD2DEG (const double x)
	Radians to degrees. More...

float	mrpt::utils::RAD2DEG (const float x)
	Radians to degrees. More...

template<typename T >
int	mrpt::utils::sign (T x)
	Returns the sign of X as "1" or "-1". More...

template<typename T >
int	mrpt::utils::signWithZero (T x)
	Returns the sign of X as "0", "1" or "-1". More...

template<typename T >
T	mrpt::utils::lowestPositive (const T a, const T b)
	Returns the lowest, possitive among two numbers. More...

template<typename T >
T	mrpt::utils::abs_diff (const T a, const T b)
	Efficient and portable evaluation of the absolute difference of two unsigned integer values (but will also work for signed and floating point types) More...

template<typename T >
const T	mrpt::utils::min3 (const T &A, const T &B, const T &C)

template<typename T >
const T	mrpt::utils::max3 (const T &A, const T &B, const T &C)

template<typename T >
int	mrpt::utils::fix (T x)
	Rounds toward zero. More...

template<class R , class SMART_PTR >
R *	mrpt::utils::getAs (SMART_PTR &o)
	Utility to get a cast'ed pointer from a smart pointer. More...

template<class R , class SMART_PTR >
const R *	mrpt::utils::getAs (const SMART_PTR &o)
	Utility to get a cast'ed pointer from a smart pointer. More...

void	mrpt::utils::reverseBytesInPlace (bool &v_in_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...

void	mrpt::utils::reverseBytesInPlace (uint8_t &v_in_out)

void	mrpt::utils::reverseBytesInPlace (int8_t &v_in_out)

void	mrpt::utils::reverseBytesInPlace (uint16_t &v_in_out)

void	mrpt::utils::reverseBytesInPlace (int16_t &v_in_out)

void	mrpt::utils::reverseBytesInPlace (uint32_t &v_in_out)

void	mrpt::utils::reverseBytesInPlace (int32_t &v_in_out)

void	mrpt::utils::reverseBytesInPlace (uint64_t &v_in_out)

void	mrpt::utils::reverseBytesInPlace (int64_t &v_in_out)

void	mrpt::utils::reverseBytesInPlace (float &v_in_out)

void	mrpt::utils::reverseBytesInPlace (double &v_in_out)

template<class T >
void	mrpt::utils::reverseBytes (const T &v_in, T &v_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...

template<typename T , typename K >
void	mrpt::utils::keep_min (T &var, const K test_val)
	If the second argument is below the first one, set the first argument to this lower value. More...

template<typename T , typename K >
void	mrpt::utils::keep_max (T &var, const K test_val)
	If the second argument is above the first one, set the first argument to this higher value. More...

template<typename T >
void	mrpt::utils::saturate (T &var, const T sat_min, const T sat_max)
	Saturate the value of var (the variable gets modified) so it does not get out of [min,max]. More...

template<typename T >
T	mrpt::utils::saturate_val (const T &value, const T sat_min, const T sat_max)
	Like saturate() but it returns the value instead of modifying the variable. More...

template<class T >
void	mrpt::utils::delete_safe (T *&ptr)
	Calls "delete" to free an object only if the pointer is not nullptr, then set the pointer to NULL. More...

template<class VECTOR_T >
void	mrpt::utils::vector_strong_clear (VECTOR_T &v)
	Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory. More...

template<typename T >
T	mrpt::utils::length2length4N (T len)
	Returns the smaller number >=len such that it's a multiple of 4. More...

Auxiliary stuff for the global profiler used in MRPT_START / MRPT_END
macros.
void	mrpt::utils::global_profiler_enter (const char *func_name) noexcept

void	mrpt::utils::global_profiler_leave (const char *func_name) noexcept

Macro Definition Documentation

◆ DEG2RAD [1/2]

#define DEG2RAD DEG2RAD

Definition at line 112 of file CColouredPointsMap.h.

◆ DEG2RAD [2/2]

#define DEG2RAD DEG2RAD

◆ M_PI

#define M_PI 3.14159265358979323846

Definition at line 92 of file bits.h.

Referenced by mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::math::angDistance(), mrpt::hwdrivers::CServoeNeck::angle2RegValue(), mrpt::math::averageWrap2Pi(), mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::maps::COccupancyGridMap2D::computeClearance(), mrpt::vision::computeMainOrientations(), mrpt::hwdrivers::CIbeoLuxETH::convertTicksToHRad(), mrpt::hwdrivers::CIbeoLuxETH::convertToCartesian(), mrpt::math::covariancesAndMeanWeighted(), GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), mrpt::opengl::CPolyhedron::CreateCupola(), mrpt::opengl::CPolyhedron::CreateIcosahedron(), mrpt::opengl::CPolyhedron::CreateJohnsonSolidWithConstantBase(), mrpt::math::TPolygon2D::createRegularPolygon(), mrpt::math::TPolygon3D::createRegularPolygon(), mrpt::opengl::CPolyhedron::CreateRhombicuboctahedron(), mrpt::opengl::CPolyhedron::CreateTrapezohedron(), mrpt::utils::DEG2RAD(), mrpt::nav::CHolonomicND::direction2sector(), mrpt::nav::CHolonomicFullEval::direction2sector(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::opengl::detail::generalizedEllipsoidPoints< 2 >(), mrpt::opengl::detail::generalizedEllipsoidPoints< 3 >(), mrpt::opengl::CPolyhedron::generateBase(), mrpt::opengl::CPolyhedron::generateShiftedBase(), mrpt::math::getAngle(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), insertCupola(), insertRotunda(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::nav::CPTG_DiffDrive_C::inverseMap_WS2TP(), mrpt::poses::CPose3D::isHorizontal(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CPTG_DiffDrive_CCS::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_CC::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_alpha::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_C::ptgDiffDriveSteeringFunction(), mrpt::utils::RAD2DEG(), ransac_data_assoc_run(), mrpt::hwdrivers::CServoeNeck::regValue2angle(), mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::hwdrivers::CServoeNeck::setAngle(), mrpt::hwdrivers::CServoeNeck::setAngleAndSpeed(), mrpt::vision::CDifodo::setFOV(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), mrpt::math::spline(), TEST(), TEST_F(), mrpt::nav::PlannerRRT_SE2_TPS::TPlannerInput::TPlannerInput(), mrpt::hwdrivers::CHokuyoURG::turnOn(), mrpt::math::unwrap2PiSequence(), velodyne_scan_to_pointcloud(), mrpt::math::wrapTo2PiInPlace(), and mrpt::math::wrapToPi().

◆ MAKEWORD16B [1/2]

#define MAKEWORD16B	(	__LOBYTE,
		__HILOBYTE
	)	((__LOBYTE) \| ((__HILOBYTE) << 8))

Definition at line 284 of file CColouredPointsMap.h.

Referenced by mrpt::utils::CStream::receiveMessage(), and mrpt::utils::reduced_hash().

◆ MAKEWORD16B [2/2]

#define MAKEWORD16B	(	__LOBYTE,
		__HILOBYTE
	)	((__LOBYTE) \| ((__HILOBYTE) << 8))

◆ MAKEWORD32B [1/2]

#define MAKEWORD32B	(	__LOWORD16,
		__HIWORD16
	)	((__LOWORD16) \| ((__HIWORD16) << 16))

◆ MAKEWORD32B [2/2]

#define MAKEWORD32B	(	__LOWORD16,
		__HIWORD16
	)	((__LOWORD16) \| ((__HIWORD16) << 16))

Definition at line 285 of file CColouredPointsMap.h.

◆ MAKEWORD64B [1/2]

#define MAKEWORD64B	(	__LOWORD32,
		__HIWORD32
	)	((__LOWORD32) \| ((__HIWORD32) << 32))

◆ MAKEWORD64B [2/2]

#define MAKEWORD64B	(	__LOWORD32,
		__HIWORD32
	)	((__LOWORD32) \| ((__HIWORD32) << 32))

Definition at line 287 of file CColouredPointsMap.h.

◆ RAD2DEG [1/2]

#define RAD2DEG RAD2DEG

Definition at line 115 of file CColouredPointsMap.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::poses::CPose3D::asString(), mrpt::math::TPose3D::asString(), mrpt::obs::CObservationBearingRange::debugPrintOut(), mrpt::hmtslam::CLocalMetricHypothesis::dumpAsText(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::slam::CICP::TConfigParams::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::topography::geocentricToGeodetic(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::getAsString(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::getAsString(), mrpt::nav::CPTG_DiffDrive_alpha::getDescription(), mrpt::obs::CObservationRange::getDescriptionAsText(), mrpt::obs::CObservationBearingRange::getDescriptionAsText(), mrpt::obs::CObservationIMU::getDescriptionAsText(), mrpt::obs::CObservation2DRangeScan::getDescriptionAsText(), mrpt::hwdrivers::CPtuDPerception::init(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mrpt::hwdrivers::CTuMicos::moveToAbsPos(), mrpt::hwdrivers::CTuMicos::moveToOffPos(), mrpt::poses::operator<<(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::hwdrivers::CTuMicos::radAsign(), mrpt::hwdrivers::CNTRIPClient::retrieveListOfMountpoints(), mrpt::hwdrivers::CServoeNeck::setAngle(), mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TMotionModelOptions(), mrpt::hwdrivers::CHokuyoURG::turnOn(), and mrpt::topography::UTMToGeodetic().

◆ RAD2DEG [2/2]

#define RAD2DEG RAD2DEG

◆ SELBYTE0 [1/2]

#define SELBYTE0 ( v ) (v & 0xff)

Definition at line 279 of file CColouredPointsMap.h.

Referenced by mrpt::utils::reduced_hash().

◆ SELBYTE0 [2/2]

#define SELBYTE0 ( v ) (v & 0xff)

◆ SELBYTE1 [1/2]

#define SELBYTE1 ( v ) ((v >> 8) & 0xff)

◆ SELBYTE1 [2/2]

#define SELBYTE1 ( v ) ((v >> 8) & 0xff)

Definition at line 280 of file CColouredPointsMap.h.

Referenced by mrpt::utils::reduced_hash().

◆ SELBYTE2 [1/2]

#define SELBYTE2 ( v ) ((v >> 16) & 0xff)

◆ SELBYTE2 [2/2]

#define SELBYTE2 ( v ) ((v >> 16) & 0xff)

Definition at line 281 of file CColouredPointsMap.h.

Referenced by mrpt::utils::reduced_hash().

◆ SELBYTE3 [1/2]

#define SELBYTE3 ( v ) ((v >> 24) & 0xff)

Definition at line 282 of file CColouredPointsMap.h.

Referenced by mrpt::utils::reduced_hash().

◆ SELBYTE3 [2/2]

#define SELBYTE3 ( v ) ((v >> 24) & 0xff)

Classes

Namespaces

Macros

Functions

Macro Definition Documentation

◆ DEG2RAD [1/2]

◆ DEG2RAD [2/2]

◆ M_PI

◆ MAKEWORD16B [1/2]

◆ MAKEWORD16B [2/2]

◆ MAKEWORD32B [1/2]

◆ MAKEWORD32B [2/2]

◆ MAKEWORD64B [1/2]

◆ MAKEWORD64B [2/2]

◆ RAD2DEG [1/2]

◆ RAD2DEG [2/2]

◆ SELBYTE0 [1/2]

◆ SELBYTE0 [2/2]

◆ SELBYTE1 [1/2]

◆ SELBYTE1 [2/2]

◆ SELBYTE2 [1/2]

◆ SELBYTE2 [2/2]

◆ SELBYTE3 [1/2]

◆ SELBYTE3 [2/2]