Detailed Description

and other utilities

Collaboration diagram for Vector and matrices mathematical operations:

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

Files
file	ops_containers.h

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

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 98 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 120 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]

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() [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]

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() [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 55 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 36 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 46 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 86 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 67 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 77 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 97 of file ops_vectors.h.

References ASSERT_EQUAL_.

◆ operator<<() [1/7]

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 140 of file ops_vectors.h.

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

◆ 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 81 of file matrix_serialization.h.

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

◆ operator<<() [3/7]

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 70 of file matrix_serialization.h.

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

◆ operator<<() [4/7]

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 111 of file ops_vectors.h.

◆ operator<<() [5/7]

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 126 of file ops_vectors.h.

◆ operator<<() [6/7]

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 98 of file matrix_serialization.h.

◆ operator<<() [7/7]

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 109 of file matrix_serialization.h.

◆ operator>>() [1/3]

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 51 of file matrix_serialization.h.

References ASSERTMSG_.

◆ operator>>() [2/3]

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 33 of file matrix_serialization.h.

References ASSERTMSG_.

◆ 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 150 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 139 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 74 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 41 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 28 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 53 of file wrap2pi.h.

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

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::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::math::pointIntoQuadrangle(), 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 64 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().

Detailed Description

Namespaces

Files

Functions

Operators for binary streaming of MRPT matrices

Operators for text streaming of MRPT matrices

Generic std::vector element-wise operations

Function Documentation

◆ angDistance()

◆ deserializeSymmetricMatrixFrom()

◆ extractColumnFromVectorOfVectors()

◆ factorial()

◆ factorial64()

◆ linspace()

◆ loadVector() [1/4]

◆ loadVector() [2/4]

◆ loadVector() [3/4]

◆ loadVector() [4/4]

◆ medianFilter()

◆ normalize()

◆ operator!()

◆ operator*()

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-()

◆ operator<<() [1/7]

◆ operator<<() [2/7]

◆ operator<<() [3/7]

◆ operator<<() [4/7]

◆ operator<<() [5/7]

◆ operator<<() [6/7]

◆ operator<<() [7/7]

◆ operator>>() [1/3]

◆ operator>>() [2/3]

◆ operator>>() [3/3]

◆ operator~()

◆ sequenceStdVec()

◆ serializeSymmetricMatrixTo()

◆ unwrap2PiSequence()

◆ wrapTo2Pi()

◆ wrapTo2PiInPlace()

◆ wrapToPi()

◆ wrapToPiInPlace()