Vector and matrices mathematical operations

Detailed Description

and other utilities

Collaboration diagram for Vector and matrices mathematical operations:

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

Files
file	ops_containers.h
	This file implements several operations that operate element-wise on individual or pairs of containers.

Functions
template<class Derived >
const Eigen::MatrixBase< Derived >::AdjointReturnType	mrpt::math::operator~ (const Eigen::MatrixBase< Derived > &m)
	Transpose operator for matrices. More...
template<class Derived >
Eigen::MatrixBase< Derived >::PlainObject	mrpt::math::operator! (const Eigen::MatrixBase< Derived > &m)
	Unary inversion operator. More...
template<class T >
std::ostream &	mrpt::math::operator<< (std::ostream &out, const std::vector< T > &d)
	A template function for printing out the contents of a std::vector variable. More...
template<class T >
std::ostream &	mrpt::math::operator<< (std::ostream &out, std::vector< T > *d)
	A template function for printing out the contents of a std::vector variable. More...
template<typename T , size_t N>
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &ostrm, const CArrayNumeric< T, N > &a)
	Binary dump of a CArrayNumeric<T,N> to a stream. More...
template<typename T , size_t N>
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &istrm, CArrayNumeric< T, N > &a)
	Binary read of a CArrayNumeric<T,N> from a stream. More...
bool	mrpt::math::loadVector (std::istream &f, std::vector< int > &d)
	Loads one row of a text file as a numerical std::vector. More...
bool	mrpt::math::loadVector (std::istream &f, std::vector< double > &d)
	Loads one row of a text file as a numerical std::vector. More...
void	mrpt::math::medianFilter (const std::vector< double > &inV, std::vector< double > &outV, const int &winSize, const int &numberOfSigmas=2)
template<typename T , typename VECTOR >
void	mrpt::math::linspace (T first, T last, size_t count, VECTOR &out_vector)
	Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points. More...
template<class T , T STEP>
std::vector< T >	mrpt::math::sequenceStdVec (T first, size_t length)
	Generates a sequence of values [first,first+STEP,first+2*STEP,...]. More...
template<class VEC1 , class VEC2 >
void	mrpt::math::normalize (const VEC1 &v, VEC2 &out_v)
	Normalize a vector, such as its norm is the unity. More...
template<class VECTOR_OF_VECTORS , class VECTORLIKE >
void	mrpt::math::extractColumnFromVectorOfVectors (const size_t colIndex, const VECTOR_OF_VECTORS &data, VECTORLIKE &out_column)
	Extract a column from a vector of vectors, and store it in another vector. More...
uint64_t	mrpt::math::factorial64 (unsigned int n)
	Computes the factorial of an integer number and returns it as a 64-bit integer number. More...
double	mrpt::math::factorial (unsigned int n)
	Computes the factorial of an integer number and returns it as a double value (internally it uses logarithms for avoiding overflow). More...
template<typename EIGEN_VECTOR , typename At , size_t N>
EIGEN_VECTOR &	mrpt::math::loadVector (EIGEN_VECTOR &v, At(&theArray)[N])
	Assignment operator for initializing a std::vector from a C array (The vector will be automatically set to the correct size). More...
template<typename T , typename At , size_t N>
std::vector< T > &	mrpt::math::loadVector (std::vector< T > &v, At(&theArray)[N])
template<class T >
void	mrpt::math::wrapTo2PiInPlace (T &a)
	Modifies the given angle to translate it into the [0,2pi[ range. More...
template<class T >
T	mrpt::math::wrapTo2Pi (T a)
	Modifies the given angle to translate it into the [0,2pi[ range. More...
template<class T >
T	mrpt::math::wrapToPi (T a)
	Modifies the given angle to translate it into the ]-pi,pi] range. More...
template<class T >
void	mrpt::math::wrapToPiInPlace (T &a)
	Modifies the given angle to translate it into the ]-pi,pi] range. More...
template<class VECTOR >
void	mrpt::math::unwrap2PiSequence (VECTOR &x)
	Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value. More...
template<class T >
T	mrpt::math::angDistance (T from, T to)
	Computes the shortest angular increment (or distance) between two planar orientations, such that it is constrained to [-pi,pi] and is correct for any combination of angles (e.g. More...

Operators for binary streaming of MRPT matrices
template<size_t NROWS, size_t NCOLS>
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, CMatrixFixedNumeric< float, NROWS, NCOLS > &M)
	Read operator from a CStream. More...
template<size_t NROWS, size_t NCOLS>
mrpt::serialization::CArchive &	mrpt::math::operator>> (mrpt::serialization::CArchive &in, CMatrixFixedNumeric< double, NROWS, NCOLS > &M)
	Read operator from a CStream. More...
template<size_t NROWS, size_t NCOLS>
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const CMatrixFixedNumeric< float, NROWS, NCOLS > &M)
	Write operator for writing into a CStream. More...
template<size_t NROWS, size_t NCOLS>
mrpt::serialization::CArchive &	mrpt::math::operator<< (mrpt::serialization::CArchive &out, const CMatrixFixedNumeric< double, NROWS, NCOLS > &M)
	Write operator for writing into a CStream. More...

Operators for text streaming of MRPT matrices
template<typename T , size_t NROWS, size_t NCOLS>
std::ostream &	mrpt::math::operator<< (std::ostream &s, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m)
	Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. More...
template<typename T >
std::ostream &	mrpt::math::operator<< (std::ostream &s, const CMatrixTemplateNumeric< T > &m)
	Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. More...
template<typename MAT >
void	mrpt::math::deserializeSymmetricMatrixFrom (MAT &m, mrpt::serialization::CArchive &in)
	Binary serialization of symmetric matrices, saving the space of duplicated values. More...
template<typename MAT >
void	mrpt::math::serializeSymmetricMatrixTo (MAT &m, mrpt::serialization::CArchive &out)
	Binary serialization of symmetric matrices, saving the space of duplicated values. More...

Generic std::vector element-wise operations
template<typename T1 , typename T2 >
std::vector< T1 > &	mrpt::math::operator*= (std::vector< T1 > &a, const std::vector< T2 > &b)
	a*=b (element-wise multiplication) More...
template<typename T1 >
std::vector< T1 > &	mrpt::math::operator*= (std::vector< T1 > &a, const T1 b)
	a*=k (multiplication by a constant) More...
template<typename T1 , typename T2 >
std::vector< T1 >	mrpt::math::operator* (const std::vector< T1 > &a, const std::vector< T2 > &b)
	a*b (element-wise multiplication) More...
template<typename T1 , typename T2 >
std::vector< T1 > &	mrpt::math::operator+= (std::vector< T1 > &a, const std::vector< T2 > &b)
	a+=b (element-wise sum) More...
template<typename T1 >
std::vector< T1 > &	mrpt::math::operator+= (std::vector< T1 > &a, const T1 b)
	a+=b (sum a constant) More...
template<typename T1 , typename T2 >
std::vector< T1 >	mrpt::math::operator+ (const std::vector< T1 > &a, const std::vector< T2 > &b)
	a+b (element-wise sum) More...
template<typename T1 , typename T2 >
std::vector< T1 >	mrpt::math::operator- (const std::vector< T1 > &v1, const std::vector< T2 > &v2)

Function Documentation

angDistance()

template<class T >

T mrpt::math::angDistance ( T  from, T  to  )

inline

Computes the shortest angular increment (or distance) between two planar orientations, such that it is constrained to [-pi,pi] and is correct for any combination of angles (e.g.

near +-pi) Examples: angDistance(0,pi) -> +pi; angDistance(pi,0) -> -pi; angDistance(-3.1,3.1) -> -0.08; angDistance(3.1,-3.1) -> +0.08;

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapToPi, wrapTo2Pi

Definition at line 96 of file wrap2pi.h.

References M_PI, and mrpt::math::wrapToPiInPlace().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::PoseDistanceMetric< TNodeSE2 >::distance(), mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), TEST(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

deserializeSymmetricMatrixFrom()

template<typename MAT >

void mrpt::math::deserializeSymmetricMatrixFrom	(	MAT &	m,
		mrpt::serialization::CArchive &	in
	)

Binary serialization of symmetric matrices, saving the space of duplicated values.

See also

serializeSymmetricMatrixTo()

Definition at line 118 of file matrix_serialization.h.

References ASSERT_EQUAL_.

Referenced by mrpt::poses::CPosePDFGaussian::serializeFrom(), mrpt::poses::CPointPDFSOG::serializeFrom(), mrpt::poses::CPosePDFSOG::serializeFrom(), mrpt::poses::CPose3DPDFGaussian::serializeFrom(), mrpt::poses::CPose3DPDFGaussianInf::serializeFrom(), and mrpt::poses::CPose3DQuatPDFGaussian::serializeFrom().

extractColumnFromVectorOfVectors()

template<class VECTOR_OF_VECTORS , class VECTORLIKE >

void mrpt::math::extractColumnFromVectorOfVectors ( const size_t  colIndex, const VECTOR_OF_VECTORS &  data, VECTORLIKE &  out_column  )

inline

Extract a column from a vector of vectors, and store it in another vector.

• Input data can be: std::vector<mrpt::math::CVectorDouble>, std::deque<std::list<double> >, std::list<CArrayDouble<5> >, etc. etc.
• Output is the sequence: data[0][idx],data[1][idx],data[2][idx], etc..

For the sake of generality, this function does NOT check the limits in the number of column, unless it's implemented in the [] operator of each of the "rows".

Definition at line 142 of file math/include/mrpt/math/utils.h.

factorial()

double mrpt::math::factorial

(

unsigned int

n

)

Computes the factorial of an integer number and returns it as a double value (internally it uses logarithms for avoiding overflow).

Definition at line 68 of file math.cpp.

Referenced by cos_Asymptotic_Series(), Power_Series_C(), Power_Series_S(), and sin_Asymptotic_Series().

factorial64()

uint64_t mrpt::math::factorial64

(

unsigned int

n

)

Computes the factorial of an integer number and returns it as a 64-bit integer number.

Definition at line 56 of file math.cpp.

linspace()

template<typename T , typename VECTOR >

void mrpt::math::linspace	(	T	first,
		T	last,
		size_t	count,
		VECTOR &	out_vector
	)

Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points.

See also

sequence

Definition at line 82 of file math/include/mrpt/math/utils.h.

Referenced by mrpt::math::CHistogram::getHistogram(), mrpt::math::CHistogram::getHistogramNormalized(), and mrpt::tfest::se3_l2_robust().

loadVector() [1/4]

bool mrpt::math::loadVector	(	std::istream &	f,
		std::vector< int > &	d
	)

Loads one row of a text file as a numerical std::vector.

Returns

false on EOF or invalid format. The body of the function is implemented in MATH.cpp

loadVector() [2/4]

bool mrpt::math::loadVector	(	std::istream &	f,
		std::vector< double > &	d
	)

Loads one row of a text file as a numerical std::vector.

Returns

false on EOF or invalid format. The body of the function is implemented in MATH.cpp

loadVector() [3/4]

template<typename EIGEN_VECTOR , typename At , size_t N>

EIGEN_VECTOR& mrpt::math::loadVector	(	EIGEN_VECTOR &	v,
		At(&)	theArray[N]
	)

Assignment operator for initializing a std::vector from a C array (The vector will be automatically set to the correct size).

   CVectorDouble  v;
const double numbers[] = { 1,2,3,5,6,7,8,9,10 };
loadVector( v, numbers );

Note

This operator performs the appropiate type castings, if required.

Definition at line 201 of file math/include/mrpt/math/utils.h.

References MRPT_COMPILE_TIME_ASSERT.

loadVector() [4/4]

template<typename T , typename At , size_t N>

std::vector<T>& mrpt::math::loadVector	(	std::vector< T > &	v,
		At(&)	theArray[N]
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 212 of file math/include/mrpt/math/utils.h.

References MRPT_COMPILE_TIME_ASSERT.

medianFilter()

void mrpt::math::medianFilter	(	const std::vector< double > &	inV,
		std::vector< double > &	outV,
		const int &	winSize,
		const int &	numberOfSigmas = 2
	)

Definition at line 460 of file math.cpp.

References ASSERT_, min, and MRPT_UNUSED_PARAM.

normalize()

template<class VEC1 , class VEC2 >

void mrpt::math::normalize	(	const VEC1 &	v,
		VEC2 &	out_v
	)

Normalize a vector, such as its norm is the unity.

If the vector has a null norm, the output is a null vector.

Definition at line 118 of file math/include/mrpt/math/utils.h.

References mrpt::square().

operator!()

template<class Derived >

Eigen::MatrixBase<Derived>::PlainObject mrpt::math::operator! ( const Eigen::MatrixBase< Derived > &  m )

inline

Unary inversion operator.

Definition at line 41 of file ops_matrices.h.

operator*()

template<typename T1 , typename T2 >

std::vector<T1> mrpt::math::operator* ( const std::vector< T1 > &  a, const std::vector< T2 > &  b  )

inline

a*b (element-wise multiplication)

Definition at line 53 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator*=() [1/2]

template<typename T1 , typename T2 >

std::vector<T1>& mrpt::math::operator*= ( std::vector< T1 > &  a, const std::vector< T2 > &  b  )

inline

a*=b (element-wise multiplication)

Definition at line 34 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator*=() [2/2]

template<typename T1 >

std::vector<T1>& mrpt::math::operator*= ( std::vector< T1 > &  a, const T1  b  )

inline

a*=k (multiplication by a constant)

Definition at line 44 of file ops_vectors.h.

operator+()

template<typename T1 , typename T2 >

std::vector<T1> mrpt::math::operator+ ( const std::vector< T1 > &  a, const std::vector< T2 > &  b  )

inline

a+b (element-wise sum)

Definition at line 84 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator+=() [1/2]

template<typename T1 , typename T2 >

std::vector<T1>& mrpt::math::operator+= ( std::vector< T1 > &  a, const std::vector< T2 > &  b  )

inline

a+=b (element-wise sum)

Definition at line 65 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator+=() [2/2]

template<typename T1 >

std::vector<T1>& mrpt::math::operator+= ( std::vector< T1 > &  a, const T1  b  )

inline

a+=b (sum a constant)

Definition at line 75 of file ops_vectors.h.

operator-()

template<typename T1 , typename T2 >

std::vector<T1> mrpt::math::operator- ( const std::vector< T1 > &  v1, const std::vector< T2 > &  v2  )

inline

Definition at line 95 of file ops_vectors.h.

References ASSERT_EQUAL_.

operator<<() [1/7]

template<size_t NROWS, size_t NCOLS>

mrpt::serialization::CArchive& mrpt::math::operator<<	(	mrpt::serialization::CArchive &	out,
		const CMatrixFixedNumeric< float, NROWS, NCOLS > &	M
	)

Write operator for writing into a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 68 of file matrix_serialization.h.

References mrpt::serialization::CArchive::WriteObject().

operator<<() [2/7]

template<size_t NROWS, size_t NCOLS>

mrpt::serialization::CArchive& mrpt::math::operator<<	(	mrpt::serialization::CArchive &	out,
		const CMatrixFixedNumeric< double, NROWS, NCOLS > &	M
	)

Write operator for writing into a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 79 of file matrix_serialization.h.

References mrpt::serialization::CArchive::WriteObject().

operator<<() [3/7]

template<typename T , size_t NROWS, size_t NCOLS>

std::ostream& mrpt::math::operator<< ( std::ostream &  s, const CMatrixFixedNumeric< T, NROWS, NCOLS > &  m  )

inline

Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output.

Definition at line 96 of file matrix_serialization.h.

operator<<() [4/7]

template<typename T >

std::ostream& mrpt::math::operator<< ( std::ostream &  s, const CMatrixTemplateNumeric< T > &  m  )

inline

Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output.

Definition at line 107 of file matrix_serialization.h.

operator<<() [5/7]

template<class T >

std::ostream& mrpt::math::operator<<	(	std::ostream &	out,
		const std::vector< T > &	d
	)

A template function for printing out the contents of a std::vector variable.

Definition at line 109 of file ops_vectors.h.

operator<<() [6/7]

template<class T >

std::ostream& mrpt::math::operator<<	(	std::ostream &	out,
		std::vector< T > *	d
	)

A template function for printing out the contents of a std::vector variable.

Definition at line 124 of file ops_vectors.h.

operator<<() [7/7]

template<typename T , size_t N>

mrpt::serialization::CArchive& mrpt::math::operator<<	(	mrpt::serialization::CArchive &	ostrm,
		const CArrayNumeric< T, N > &	a
	)

Binary dump of a CArrayNumeric<T,N> to a stream.

Definition at line 138 of file ops_vectors.h.

References mrpt::serialization::CArchive::WriteBufferFixEndianness().

operator>>() [1/3]

template<size_t NROWS, size_t NCOLS>

mrpt::serialization::CArchive& mrpt::math::operator>>	(	mrpt::serialization::CArchive &	in,
		CMatrixFixedNumeric< float, NROWS, NCOLS > &	M
	)

Read operator from a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 31 of file matrix_serialization.h.

References ASSERTMSG_, and mrpt::format().

operator>>() [2/3]

template<size_t NROWS, size_t NCOLS>

mrpt::serialization::CArchive& mrpt::math::operator>>	(	mrpt::serialization::CArchive &	in,
		CMatrixFixedNumeric< double, NROWS, NCOLS > &	M
	)

Read operator from a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 49 of file matrix_serialization.h.

References ASSERTMSG_, and mrpt::format().

operator>>() [3/3]

template<typename T , size_t N>

mrpt::serialization::CArchive& mrpt::math::operator>>	(	mrpt::serialization::CArchive &	istrm,
		CArrayNumeric< T, N > &	a
	)

Binary read of a CArrayNumeric<T,N> from a stream.

Definition at line 148 of file ops_vectors.h.

References ASSERTMSG_, mrpt::format(), and mrpt::serialization::CArchive::ReadBufferFixEndianness().

operator~()

template<class Derived >

const Eigen::MatrixBase<Derived>::AdjointReturnType mrpt::math::operator~ ( const Eigen::MatrixBase< Derived > &  m )

inline

Transpose operator for matrices.

Definition at line 33 of file ops_matrices.h.

sequenceStdVec()

template<class T , T STEP>

std::vector<T> mrpt::math::sequenceStdVec ( T  first, size_t  length  )

inline

Generates a sequence of values [first,first+STEP,first+2*STEP,...].

See also

linspace, sequence

Definition at line 101 of file math/include/mrpt/math/utils.h.

serializeSymmetricMatrixTo()

template<typename MAT >

void mrpt::math::serializeSymmetricMatrixTo	(	MAT &	m,
		mrpt::serialization::CArchive &	out
	)

Binary serialization of symmetric matrices, saving the space of duplicated values.

See also

deserializeSymmetricMatrixFrom()

Definition at line 137 of file matrix_serialization.h.

References ASSERT_EQUAL_.

Referenced by mrpt::poses::CPosePDFGaussian::serializeTo(), mrpt::poses::CPointPDFSOG::serializeTo(), mrpt::poses::CPosePDFSOG::serializeTo(), mrpt::poses::CPose3DPDFGaussian::serializeTo(), mrpt::poses::CPose3DPDFGaussianInf::serializeTo(), and mrpt::poses::CPose3DQuatPDFGaussian::serializeTo().

unwrap2PiSequence()

template<class VECTOR >

void mrpt::math::unwrap2PiSequence

(

VECTOR &

x

)

Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value.

See also

wrapToPi

Definition at line 72 of file wrap2pi.h.

References M_PI, and mrpt::math::wrapToPiInPlace().

Referenced by mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation().

wrapTo2Pi()

template<class T >

T mrpt::math::wrapTo2Pi ( T  a )

inline

Modifies the given angle to translate it into the [0,2pi[ range.

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapToPi, wrapTo2Pi, unwrap2PiSequence

Definition at line 39 of file wrap2pi.h.

References mrpt::math::wrapTo2PiInPlace().

Referenced by mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::obs::CObservation2DRangeScan::filterByExclusionAngles(), mrpt::math::operator!=(), mrpt::math::operator==(), and mrpt::math::wrapToPi().

wrapTo2PiInPlace()

template<class T >

void mrpt::math::wrapTo2PiInPlace ( T &  a )

inline

Modifies the given angle to translate it into the [0,2pi[ range.

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapToPi, wrapTo2Pi, unwrap2PiSequence

Definition at line 26 of file wrap2pi.h.

References M_PI.

Referenced by mrpt::nav::CPTG_DiffDrive_C::inverseMap_WS2TP(), and mrpt::math::wrapTo2Pi().

wrapToPi()

template<class T >

T mrpt::math::wrapToPi ( T  a )

inline

Modifies the given angle to translate it into the ]-pi,pi] range.

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapTo2Pi, wrapToPiInPlace, unwrap2PiSequence

Definition at line 51 of file wrap2pi.h.

References M_PI, and mrpt::math::wrapTo2Pi().

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs(), mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose(), mrpt::poses::CPose2D::composeFrom(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::math::covariancesAndMeanWeighted(), mrpt::nav::CHolonomicND::direction2sector(), mrpt::nav::CHolonomicFullEval::direction2sector(), mrpt::poses::CPose3D::distanceEuclidean6D(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::poses::CPosePDFParticles::evaluatePDF_parzen(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::obs::CObservationBearingRange::getDescriptionAsText(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::math::interpolate2points(), mrpt::poses::CPose2D::inverseComposeFrom(), mrpt::poses::CPose3D::isHorizontal(), mrpt::math::leastSquareLinearFit(), mrpt::poses::CPose2D::normalizePhi(), mrpt::math::TPose2D::normalizePhi(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel(), mrpt::math::TPose2D::operator+(), mrpt::math::TPose2D::operator-(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), mrpt::hwdrivers::CNTRIPClient::retrieveListOfMountpoints(), run_test_so2_avrg(), mrpt::tfest::se2_l2_robust(), mrpt::poses::CPose3D::setFromValues(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::math::spline(), and mrpt::math::wrapToPiInPlace().

wrapToPiInPlace()

template<class T >

void mrpt::math::wrapToPiInPlace ( T &  a )

inline

Modifies the given angle to translate it into the ]-pi,pi] range.

Note

Take care of not instancing this template for integer numbers, since it only works for float, double and long double.

See also

wrapToPi,wrapTo2Pi, unwrap2PiSequence

Definition at line 62 of file wrap2pi.h.

References mrpt::math::wrapToPi().

Referenced by mrpt::math::angDistance(), mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist(), mrpt::poses::CPosePDFGaussian::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPosePDFGaussianInf::mahalanobisDistanceTo(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::slam::CRangeBearingKFSLAM2D::OnNormalizeStateVector(), mrpt::slam::CRangeBearingKFSLAM2D::OnSubstractObservationVectors(), mrpt::slam::CRangeBearingKFSLAM::OnSubstractObservationVectors(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), and mrpt::math::unwrap2PiSequence().