math Namespace Reference

Math namespace to separate math functions from system functions if exist. More...

Functions
double	angleWrap (double x)
	Wrap an angle to be in the range [-pi, pi) More...
double	clamp (double x, double min, double max)
	Clip a number to bewteen a min and max value. More...
template<class T >
tf::Transform	getTransformFromVector (const T &input)
	Generate a tf transform from a vector of xyzrpy. More...
template<class T >
std::vector< tf::Transform >	getTransformsFromVector (const T &input)
	Generate a vector of tf transforms from a vector of xyzrpy. More...

Detailed Description

Math namespace to separate math functions from system functions if exist.

Function Documentation

double math::angleWrap

(

double

x

)

Wrap an angle to be in the range [-pi, pi)

Parameters

x	Angle to wrap

Returns

Wrapped angle

double math::clamp	(	double	x,
		double	min,
		double	max
	)

Clip a number to bewteen a min and max value.

Parameters

x	Number to clamp
min	Minimum value
max	Maximum value

Returns

Clamped value

template<class T >

tf::Transform math::getTransformFromVector

(

const T &

input

)

Generate a tf transform from a vector of xyzrpy.

Template Parameters

T	The vector type can be Eigen, std vector, protobuf

Parameters

input

The input vector containing x,y,z, r,p,y

Returns

tf transform

template<class T >

std::vector<tf::Transform> math::getTransformsFromVector

(

const T &

input

)

Generate a vector of tf transforms from a vector of xyzrpy.

Template Parameters

T	The vector type can be Eigen, std vector, protobuf

Parameters

input

The input vector containing x,y,z, r,p,y

Returns

vector of tf::Transform

Todo:

(Matt) Add proto for transform and just process a list of the proto transforms here